Related papers: Smooth time optimal trajectory generation for dron…
Generating locally optimal UAV-trajectories is challenging due to the non-convex constraints of collision avoidance and actuation limits. We present the first local, optimization-based UAV-trajectory generator that simultaneously guarantees…
Unmanned Aerial Vehicles (UAVs), commonly known as drones, have experienced expanding use in urban environments in recent years. However, the growing density of drones raises significant challenges, such as avoiding collisions and managing…
We propose an online planning approach for racing that generates the time-optimal trajectory for the upcoming track section. The resulting trajectory takes the current vehicle state, effects caused by \acl{3D} track geometries, and speed…
Recent advancements in unmanned aerial vehicles, also known as drones, have motivated logistics to use drones for multiple operations. Collaboration between drones and trucks in a last-mile delivery system has numerous benefits and reduces…
This paper addresses the problem of guiding a quadrotor through a predefined sequence of waypoints in cluttered environments, aiming to minimize the flight time while avoiding collisions. Previous approaches either suffer from prolonged…
Time-critical tasks such as drone racing typically cover large operation areas. However, it is difficult and computationally intensive for current time-optimal motion planners to accommodate long flight distances since a large yet unknown…
With technological advancement, drone has emerged as unmanned aerial vehicle that can be controlled by humans to fly or reach a destination. This may be autonomous as well, where the drone itself is intelligent enough to find a shortest…
We study the tracking of a trajectory for a nonholonomic system by recasting the problem as a constrained optimal control problem. The cost function is chosen to minimize the error in positions and velocities between the trajectory of a…
A framework is introduced for planning unmanned aerial vehicle flight paths for visual surveillance of ground targets, each having particular viewing requirements. Specifically, each target is associated with a set of imaging parameters,…
Imagine an island modeled as a simple polygon $\P$ with $n$ vertices whose coastline we wish to monitor. We consider the problem of building the minimum number of refueling stations along the boundary of $\P$ in such a way that a drone can…
Aircraft failures alter dynamics, diminishing manoeuvrability. Such manoeuvring flight envelope variations, governed by the aircraft's complex nonlinear dynamics, are unpredictable by pilots and existing flight management systems. To…
In this research, we consider the commercial aircraft trajectory optimization problem for a general cruise model with arbitrary spatial wind fields to be solved using the Pontryagin maximum principle. The model features two fundamental…
MPC (Model predictive control)-based motion planning and trajectory generation are essential in applications such as unmanned aerial vehicles, robotic manipulators, and rocket control. However, the real-time implementation of such…
In many unmanned aerial vehicle (UAV) applications for surveillance and data collection, it is not possible to reach all requested locations due to the given maximum flight time. Hence, the requested locations must be prioritized and the…
In this paper we schedule the travel path of a set of drones across a graph where the nodes need to be visited multiple times at pre-defined points in time. This is an extension of the well-known multiple traveling salesman problem. The…
We tackle the problem of minimum-time flight for a quadrotor through a sequence of waypoints in the presence of obstacles while exploiting the full quadrotor dynamics. Early works relied on simplified dynamics or polynomial trajectory…
Unmanned aerial vehicles, or drones, have the potential to significantly reduce the cost and time of making last-mile deliveries and responding to emergencies. Despite this potential, little work has gone into developing vehicle routing…
This paper proposes a novel mission planning algorithm for autonomous robots that selects an optimal waypoint sequence from a predefined set to maximize total reward while satisfying obstacle avoidance, state, input, derivative, mission…
Constrained motion planning is a common but challenging problem in robotic manipulation. In recent years, data-driven constrained motion planning algorithms have shown impressive planning speed and success rate. Among them, the latent…
In this work, we address the problem of computation time for trajectory generation in quadrotors. Most trajectory generation methods for waypoint navigation of quadrotors, for example minimum snap/jerk and minimum-time, are structured as…