Related papers: KinoJGM: A framework for efficient and accurate qu…
Flying quadrotors in tight formations is a challenging problem. It is known that in the near-field airflow of a quadrotor, the aerodynamic effects induced by the propellers are complex and difficult to characterize. Although machine…
For autonomous mobile robots, uncertainties in the environment and system model can lead to failure in the motion planning pipeline, resulting in potential collisions. In order to achieve a high level of robust autonomy, these robots should…
Unmanned surface vessels (USVs) are widely used in ocean exploration and environmental protection fields. To ensure that USV can successfully perform its mission, trajectory planning and motion tracking are the two most critical…
We present an optimization-based framework for multicopter trajectory planning subject to geometrical configuration constraints and user-defined dynamic constraints. The basis of the framework is a novel trajectory representation built upon…
In recent years, several progressive works promote the development of aerial tracking. One of the representative works is our previous work Fast-tracker which is applicable to various challenging tracking scenarios. However, it suffers from…
Visual observation of objects is essential for many robotic applications, such as object reconstruction and manipulation, navigation, and scene understanding. Machine learning algorithms constitute the state-of-the-art in many fields but…
This article presents a three-dimensional nonlinear trajectory tracking control strategy for unmanned aerial vehicles (UAVs) in the presence of spatial constraints. As opposed to many existing control strategies, which do not consider…
In this paper we present the PUMP (Parallel Uncertainty-aware Multiobjective Planning) algorithm for addressing the stochastic kinodynamic motion planning problem, whereby one seeks a low-cost, dynamically-feasible motion plan subject to a…
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…
Local planning for a differential wheeled robot is designed to generate kinodynamic feasible actions that guide the robot to a goal position along the navigation path while avoiding obstacles. Reactive, predictive, and learning-based…
This paper presents a technique to cope with the gap between high-level planning, e.g., reference trajectory tracking, and low-level controlling using a learning-based method in the plan-based control paradigm. The technique improves the…
In this paper, we create optimal, collision-free, time-dependent trajectories through cluttered dynamic environments. The many spatial and temporal constraints make finding an initial guess for a numerical solver difficult. Graphs of Convex…
Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…
This paper presents a novel trajectory tracker for autonomous quadrotor navigation in dynamic and complex environments. The proposed framework integrates a distributional Reinforcement Learning (RL) estimator for unknown aerodynamic effects…
Autonomous exploration in unknown environments is key for mobile robots, helping them perceive, map, and make decisions in complex areas. However, current methods often rely on frequent global optimization, suffering from high computational…
Motion planning under differential constraints, kinodynamic motion planning, is one of the canonical problems in robotics. Currently, state-of-the-art methods evolve around kinodynamic variants of popular sampling-based algorithms, such as…
The problem of safety for robotic systems has been extensively studied. However, little attention has been given to security issues for three-dimensional systems, such as quadrotors. Malicious adversaries can compromise robot sensors and…
Given the evolving application scenarios of current fixed-wing unmanned aerial vehicles (UAVs), it is necessary for UAVs to possess agile and rapid 3-dimensional flight capabilities. Typically, the trajectory of a tail-sitter is generated…
This paper extends the family of gap-based local planners to unknown dynamic environments through generating provable collision-free properties for hierarchical navigation systems. Existing perception-informed local planners that operate in…
In this paper, we describe a robust multi-drone planning framework for high-speed trajectories in large scenes. It uses a free-space-oriented map to free the optimization from cumbersome environment data. A capsule-like safety constraint is…