Related papers: Risk-aware Trajectory Sampling for Quadrotor Obsta…
High-speed obstacle avoidance of uncrewed aerial vehicles (UAVs) in cluttered environments is a significant challenge. Existing UAV planning and obstacle avoidance systems can only fly at moderate speeds or at high speeds over empty or…
Dynamic obstacle avoidance (DOA) is a fundamental challenge for any autonomous vehicle, independent of whether it operates in sea, air, or land. This paper proposes a two-step architecture for handling DOA tasks by combining supervised and…
The growing potential of quadcopters in various domains, such as aerial photography, search and rescue, and infrastructure inspection, underscores the need for real-time control under strict safety and operational constraints. This…
Autonomous agents are limited in their ability to observe the world state. Partially observable Markov decision processes (POMDPs) formally model the problem of planning under world state uncertainty, but POMDPs with continuous actions and…
Rapidly generating an optimal chasing motion of a drone to follow a dynamic target among obstacles is challenging due to numerical issues rising from multiple conflicting objectives and non-convex constraints. This study proposes to resolve…
Quadrotors are among the most agile flying robots. However, planning time-optimal trajectories at the actuation limit through multiple waypoints remains an open problem. This is crucial for applications such as inspection, delivery, search…
In dense and dynamic scenarios, planning a safe and comfortable trajectory is full of challenges when traffic participants are driving at high speed. The classic graph search and sampling methods first perform path planning and then…
Online state-time trajectory planning in highly dynamic environments remains an unsolved problem due to the unpredictable motions of moving obstacles and the curse of dimensionality from the state-time space. Existing state-time planners…
In many robotic tasks, such as autonomous drone racing, the goal is to travel through a set of waypoints as fast as possible. A key challenge for this task is planning the time-optimal trajectory, which is typically solved by assuming…
This paper presents MADER, a 3D decentralized and asynchronous trajectory planner for UAVs that generates collision-free trajectories in environments with static obstacles, dynamic obstacles, and other planning agents. Real-time collision…
Autonomous motion planning is challenging in multi-obstacle environments due to nonconvex collision avoidance constraints. Directly applying numerical solvers to these nonconvex formulations fails to exploit the constraint structures,…
Time-optimal obstacle avoidance is a prevalent problem encountered in various fields, including robotics and autonomous vehicles, where the task involves determining a path for a moving vehicle to reach its goal while navigating around…
Efficiently planning an Unmanned Aerial Vehicle (UAV) path is crucial, especially in dynamic settings where potential threats are prevalent. A Dynamic Path Planner (DPP) for UAV using the Spherical Vector-based Particle Swarm Optimisation…
Challenges in traversing dynamic clutters lie mainly in the efficient perception of the environmental dynamics and the generation of evasive behaviors considering obstacle movement. Previous solutions have made progress in explicitly…
Obstacle avoidance is a key feature for safe Unmanned Aerial Vehicle (UAV) navigation. While solutions have been proposed for static obstacle avoidance, systems enabling avoidance of dynamic objects, such as drones, are hard to implement…
It is a significant requirement for a quadrotor trajectory planner to simultaneously guarantee trajectory quality and system lightweight. Many researchers focus on this problem, but there's still a gap between their performance and our…
Unmapped areas and aerodynamic disturbances render autonomous navigation with quadrotors extremely challenging. To fly safely and efficiently, trajectory planners and trackers must be able to navigate unknown environments with unpredictable…
This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…
Efficient trajectory generation in complex dynamic environments remains an open problem in the unmanned surface vehicle (USV). The perception of the USV is usually interfered with by the swing of the hull and the ambient weather, making it…
In this work, a set of motion primitives is defined for use in an energy-aware motion planning problem. The motion primitives are defined as sequences of control inputs to a simplified four-DOF dynamics model and are used to replace the…