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In this paper, we present an on-board vision-based approach for avoidance of moving obstacles in dynamic environments. Our approach relies on an efficient obstacle detection and tracking algorithm based on depth image pairs, which provides…
This paper presents an approach to mutual collision avoidance based on Nonlinear Model Predictive Control (NMPC) with time-dependent Reciprocal Velocity Constraints (RVCs). Unlike most existing methods, the proposed approach relies solely…
Tracking control has been a vital research topic in robotics. This paper presents a novel hybrid control strategy for an unmanned underwater vehicle (UUV) based on a bioinspired neural dynamics model. An enhanced backstepping kinematic…
Over the past few years, the use of camera-equipped robotic platforms for data collection and visually monitoring applications has exponentially grown. Cluttered construction sites with many objects (e.g., bricks, pipes, etc.) on the ground…
This paper investigates the problem of computing a two-dimensional optimal curvature straight line (CS) shortest path for an unmanned aerial vehicle (UAV) to intercept a moving target, with both the UAV (pursuer) and target travelling at…
In this paper,we design a formation control systrm for multi-unmanned ground vehicles(UGV) from the prospective of path planning and path tracking.The master-slave control is adopted by electing out a main vehicle to address the problem of…
Navigation of a team of autonomous underwater vehicles (AUVs) coordinated by an unmanned surface vehicle (USV) is efficient and reliable for deep ocean exploration. AUVs depart from and return to the USV after collaborative navigation, data…
This paper proposes a new robust trajectory tracking error-based control approach for unmanned ground vehicles. A trajectory tracking error-based model is used to design a linear model predictive controller and its control action is…
Small-sized unmanned surface vehicles (USV) are coastal water devices with a broad range of applications such as environmental control and surveillance. A crucial capability for autonomous operation is obstacle detection for timely reaction…
In this article we present a unified framework based on receding horizon techniques that can be used to design the three tasks (guidance, navigation and path-planning) which are involved in the autonomy of unmanned vehicles. This tasks are…
Autonomous driving requires reliable collision avoidance in dynamic environments. Nonlinear Model Predictive Controllers (NMPCs) are suitable for this task, but struggle in time-critical scenarios requiring high frequency. To meet this…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
Unmanned aerial vehicle (UAV) use continues to increase, including operating beyond line of sight in unknown environments where the vehicle must autonomously generate a trajectory to safely navigate. In this article, we develop a trajectory…
We revisit the Safety Velocity Cones (SVCs) obstacle avoidance approach for real-time autonomous navigation in an unknown $n$-dimensional environment. We propose a locally Lipschitz continuous implementation of the SVC controller using the…
This paper presents a three-dimensional, hydrodynamics-inspired collision avoidance framework for uncrewed aerial vehicle (UAV) formations operating in dynamic environments. When moving obstacles enter a UAV's sensing region, they are…
Motion control of underwater robotic vehicles is a demanding task with great challenges imposed by external disturbances, model uncertainties and constraints of the operating workspace. Thus, robust motion control is still an open issue for…
This letter addresses the problem of trajectory planning in a marsupial robotic system consisting of an unmanned aerial vehicle (UAV) linked to an unmanned ground vehicle (UGV) through a non-taut tether with controllable length. To the best…
Dynamic obstacle avoidance is a challenging topic for optimal control and optimization-based trajectory planning problems. Many existing works use Control Barrier Functions (CBFs) to enforce safety constraints for control systems. CBFs are…
Autonomous underwater vehicles (AUV) have become the de facto vehicle for remote operations involving oceanography, inspection, and monitoring tasks. These vehicles operate in different and often challenging environments; hence, the design…
Autonomous surface vehicles (ASVs) are influenced by environmental disturbances such as wind and waves, making accurate trajectory tracking a persistent challenge in dynamic marine conditions. In this paper, we propose an efficient…