Related papers: Aerial Chasing of a Dynamic Target in Complex Envi…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…
As drones and autonomous cars become more widespread it is becoming increasingly important that robots can operate safely under realistic conditions. The noisy information fed into real systems means that robots must use estimates of the…
Recent advancements in robotics have transformed industries such as manufacturing, logistics, surgery, and planetary exploration. A key challenge is developing efficient motion planning algorithms that allow robots to navigate complex…
Optimization problems with drones are widely studied in a variety of civilian tasks, mainly due to their ability to traverse rough terrains and to carry cameras and other sensors for surveillance tasks. The limited battery life of these…
Trajectory following is one of the complicated control problems when its dynamics are nonlinear, stochastic and include a large number of parameters. The problem has significant difficulties including a large number of trials required for…
Drones have recently emerged as a faster, safer, and cost-efficient way for last-mile deliveries of parcels, particularly for urgent medical deliveries highlighted during the pandemic. This paper addresses a new challenge of multi-parcel…
Drone swarms coupled with data intelligence can be the future of wildfire fighting. However, drone swarm firefighting faces enormous challenges, such as the highly complex environmental conditions in wildfire scenes, the highly dynamic…
In fast-paced, ever-changing environments, dynamic Motion Planning for Multi-Agent Systems in the presence of obstacles is a universal and unsolved problem. Be it from path planning around obstacles to the movement of robotic arms, or in…
We consider the problem of multiple agents or robots searching for a target in the plane. This is motivated by Search and Rescue operations (SAR) in the high seas which in the past were often performed with several vessels, and more…
The design and control of winged aircraft and drones is an iterative process aimed at identifying a compromise of mission-specific costs and constraints. When agility is required, shape-shifting (morphing) drones represent an efficient…
This paper is concerned with determining the shortest path for a pursuer aiming to intercept a moving target travelling at a constant speed. To address this challenge, we introduce an efficient mathematical model outlined as an optimal…
Non-prehensile manipulation such as pushing is typically subject to uncertain, non-smooth dynamics. However, modeling the uncertainty of the dynamics typically results in intractable belief dynamics, making data-efficient planning under…
Motion planners for mobile robots in unknown environments face the challenge of simultaneously maintaining both robustness against unmodeled uncertainties and persistent feasibility of the trajectory-finding problem. That is, while dealing…
Multi-robot target tracking finds extensive applications in different scenarios, such as environmental surveillance and wildfire management, which require the robustness of the practical deployment of multi-robot systems in uncertain and…
This research addresses the challenge of performing search missions in dynamic environments, particularly for drifting targets whose movement is dictated by a flow field. This is accomplished through a dynamical system that integrates two…
Collision-free mobile robot navigation is an important problem for many robotics applications, especially in cluttered environments. In such environments, obstacles can be static or dynamic. Dynamic obstacles can additionally be…
This paper considers safe robot mission planning in uncertain dynamical environments. This problem arises in applications such as surveillance, emergency rescue, and autonomous driving. It is a challenging problem due to modeling and…
Unmanned aerial vehicles, and multi-rotors in particular, can now perform dexterous tasks in impervious environments, from infrastructure monitoring to emergency deliveries. Autonomous drone racing has emerged as an ideal benchmark to…
Real-world environments are inherently uncertain, and to operate safely in these environments robots must be able to plan around this uncertainty. In the context of motion planning, we desire systems that can maintain an acceptable level of…
Path planning in the presence of dynamic obstacles is a challenging problem due to the added time dimension in search space. In approaches that ignore the time dimension and treat dynamic obstacles as static, frequent re-planning is…