Related papers: Aircraft Conflict Resolution with Trajectory Recov…
We address the challenge of real-time planning of minimum-time trajectories over multiple waypoints, onboard multirotor UAVs. Previous works demonstrated that achieving a truly time-optimal trajectory is computationally too demanding to…
This paper proposes a novel methodology for trajectory planning in autonomous vehicles (AVs), addressing the complex challenge of negotiating speed bumps within a unified Mixed-Integer Quadratic Programming (MIQP) framework. By leveraging…
Traffic Management in Advanced Aerial Mobility (AAM) inherits many elements of conventional Air Traffic Management (ATM), but brings new complexities and challenges of its own. One of its ways of guaranteeing separation is the use of…
We propose an efficient motion planning method designed to efficiently find collision-free trajectories for multiple manipulators. While multi-manipulator systems offer significant advantages, coordinating their motions is computationally…
One of the keys to flying quadrotors is to optimize their trajectories within the set of collision-free corridors. These corridors impose nonconvex constraints on the trajectories, making real-time trajectory optimization challenging. We…
Nonlinear optimal control problems for trajectory planning with obstacle avoidance present several challenges. While general-purpose optimizers and dynamic programming methods struggle when adopted separately, their combination enabled by a…
Ensuring safe separation between aircraft is a critical challenge in air traffic management, particularly in urban air mobility (UAM) environments where high traffic density and low altitudes require precise control. In these environments,…
The optimal design of multi-target rendezvous and flyby missions is challenging due to the combination of traditional spacecraft trajectory optimization and high-dimensional combinatorial problems. This often requires large-scale global…
Mixed integer linear programming (MILP) is a powerful tool for planning and control problems because of its modeling capability and the availability of good solvers. However, for large models, MILP methods suffer computationally. In this…
Dismantling aircrafts reaching their end of life is a complex endeavour that is necessary in terms of sustainability but yields small income margins for air transport companies. An efficient scheduling of the disassembly procedure is thus…
Airline disruption management traditionally seeks to address three problem dimensions: aircraft scheduling, crew scheduling, and passenger scheduling, in that order. However, current efforts have, at most, only addressed the first two…
Path planning for multiple unmanned aerial vehicles is a difficult task, and even more for a fleet of fixed-wing aircraft. One specific case is the transition to, or between, formation flight patterns, which requires synchronous arrivals…
The inherent support of sixth-generation (6G) systems enabling integrated sensing and communications (ISAC) paradigm greatly enhances the application area of intelligent transportation systems (ITS). One of the mission-critical applications…
Urban air mobility (UAM) has attracted the attention of aircraft manufacturers, air navigation service providers and governments in recent years. Preventing the conflict among urban aircraft is crucial to UAM traffic safety, which is a key…
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…
Multi-vehicle coordinated motion planning has always been challenged to safely and efficiently resolve conflicts under non-holonomic dynamic constraints. Constructing spatial-temporal corridors for multi-vehicle can decouple the…
The practical problem of tracking a maneuvering aircraft during flight has always been a crucial task in order to safeguard airborne assets from unknown threats. Therefore, the need for an efficient target detection and identification…
High-speed trajectory planning through unknown environments requires algorithmic techniques that enable fast reaction times while maintaining safety as new information about the operating environment is obtained. The requirement of…
The multi-plane phase retrieval method provides a budget-friendly and effective way to perform phase imaging, yet it often encounters alignment challenges due to shifts along the optical axis in experiments. Traditional methods, such as…
In this paper, we investigate a secure communication architecture based on unmanned aerial vehicle (UAV), which enhances the security performance of the communication system through UAV trajectory optimization. We formulate a control…