Related papers: Smooth time optimal trajectory generation for dron…
We propose an algorithm for solving the time-dependent shortest path problem in flow fields where the FIFO (first-in-first-out) assumption is violated. This problem variant is important for autonomous vehicles in the ocean, for example,…
This study proposes a new automated strategy for designing and optimizing three-dimensional interplanetary low-thrust (LT) trajectories. The method formulates the design as a hybrid optimal control problem and solves it using a two-step…
With much research has been conducted into trajectory planning for quadrotors, planning with spatial and temporal optimal trajectories in real-time is still challenging. In this paper, we propose a framework for generating large-scale…
This paper presents a continuous-time optimal control framework for the generation of reference trajectories in driving scenarios with uncertainty. A previous work presented a discrete-time stochastic generator for autonomous vehicles;…
This paper presents a modeling and optimization framework to compute the minimum-lap-time spatial trajectory and powertrain operation of racing cars in a computationally efficient fashion. Specifically, we first derive a quasi-steady-state…
The multiple spacecraft guidance problem for proximity flight in libration point orbit is considered. A nonlinear optimal control problem with continuous-time path constraints enforcing minimum separation between each spacecraft is…
For real applications of unmanned aerial vehicles, the capability of navigating with full autonomy in unknown environments is a crucial requirement. However, planning a shorter path with less computing time is contradictory. To address this…
Optimal collision-free formation control of the unmanned aerial vehicle (UAV) is a challenge. The state-of-the-art optimal control approaches often rely on numerical methods sensitive to initial guesses. This paper presents an innovative…
Vehicle trajectory planning is a key component for an autonomous driving system. A practical system not only requires the component to compute a feasible trajectory, but also a comfortable one given certain comfort metrics. Nevertheless,…
The objective of this study is to enable fast and safe manipulation tasks in home environments. Specifically, we aim to develop a system that can recognize its surroundings and identify target objects while in motion, enabling it to plan…
In this paper, we propose a new method for path planning to a point for robot in environment with obstacles. The resulting algorithm is implemented as a simple variation of Dijkstra's algorithm. By adding a constraint to the shortest-path,…
Trajectory planning is commonly used as part of a local planner in autonomous driving. This paper considers the problem of planning a continuous-curvature-rate trajectory between fixed start and goal states that minimizes a tunable…
Coordinating teams of aerial robots in cluttered three-dimensional (3D) environments requires a principled integration of discrete mission planning-deciding which robot serves which goals and in what order -- with continuous-time trajectory…
his paper presents a simple approach for drone navigation to follow a predetermined path using visual input only without reliance on a Global Positioning System (GPS). A Convolutional Neural Network (CNN) is used to output the steering…
In this paper, the trajectory planning problem for autonomous rendezvous and docking between a controlled spacecraft and a tumbling target is addressed. The use of a variable planning horizon is proposed in order to construct an appropriate…
This paper proposes an optimization-based approach to predict trajectories of autonomous race cars. We assume that the observed trajectory is the result of an optimization problem that trades off path progress against acceleration and jerk…
In real-time trajectory planning for unmanned vehicles, on-board sensors, radars and other instruments are used to collect information on possible obstacles to be avoided and pathways to be followed. Since, in practice, observations of the…
This paper proposes a two-stage approach to formulate the time-optimal point-to-point motion planning problem, involving a first stage with a fixed time grid and a second stage with a variable time grid. The proposed approach brings…
Given a fleet of drones with different speeds and a set of package delivery requests, the collaborative delivery problem asks for a schedule for the drones to collaboratively carry out all package deliveries, with the objective of…
The minimum-time path for intercepting a moving target with a prescribed impact angle is studied in the paper. The candidate paths from Pontryagin's maximum principle are analyzed, so that each candidate is related to a zero of a…