Related papers: Two-step Planning of Dynamic UAV Trajectories usin…
Ground robots navigating in complex, dynamic environments must compute collision-free trajectories to avoid obstacles safely and efficiently. Nonconvex optimization is a popular method to compute a trajectory in real-time. However, these…
This paper presents a method for planning optimal trajectories with a team of Unmanned Aerial Vehicles (UAVs) performing autonomous cinematography. The method is able to plan trajectories online and in a distributed manner, providing…
Efficient trajectory generation in complex dynamic environments remains an open problem in the unmanned surface vehicle (USV). The perception of the USV is usually interfered with by the swing of the hull and the ambient weather, making it…
This paper presents Deep-PANTHER, a learning-based perception-aware trajectory planner for unmanned aerial vehicles (UAVs) in dynamic environments. Given the current state of the UAV, and the predicted trajectory and size of the obstacle,…
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…
In this work, we propose a method to efficiently compute smooth, time-optimal trajectories for micro aerial vehicles (MAVs) evading a moving obstacle. Our approach first computes an n-dimensional trajectory from the start- to an arbitrary…
Multi-UAV Coverage Path Planning (mCPP) algorithms in popular commercial software typically treat a Region of Interest (RoI) only as a 2D plane, ignoring important3D structure characteristics. This leads to incomplete 3Dreconstructions,…
Though great effort has been put into the study of path planning on urban roads and highways, few works have studied the driving strategy and trajectory planning in low-speed driving scenarios, e.g., driving on a university campus or…
Quadrotors are among the most agile flying robots. However, planning time-optimal trajectories at the actuation limit through multiple waypoints remains an open problem. This is crucial for applications such as inspection, delivery, search…
Due to the strong nonlinearity and nonholonomic dynamics, despite the various general trajectory optimization methods presented, few of them can guarantee efficient computation and physical feasibility for relatively complicated fixed-wing…
Search-based motion planning algorithms have been widely utilized for unmanned aerial vehicles (UAVs). However, deploying these algorithms on real UAVs faces challenges due to limited onboard computational resources. The algorithms struggle…
Unmanned Aerial Vehicles need an online path planning capability to move in high-risk missions in unknown and complex environments to complete them safely. However, many algorithms reported in the literature may not return reliable…
Agile trajectory planning can improve the efficiency of multi-rotor Uncrewed Aerial Vehicles (UAVs) in scenarios with combined task-oriented and kinematic trajectory planning, such as monitoring spatio-temporal phenomena or intercepting…
Fixed-wing unmanned aerial vehicles (UAVs) offer significant performance advantages over rotary-wing UAVs in terms of speed, endurance, and efficiency. However, these vehicles have traditionally been severely limited with regards to…
Unmanned Aerial Systems (UAS) have gained significant traction for their application in infrastructure inspections. However, considering the enormous scale and complex nature of infrastructure, automation is essential for improving the…
The enabling of safe cellular controlled unmanned aerial vehicle (UAV) beyond visual line of sight is expected to open important future opportunities in the area of transportation, goods delivery, and system monitoring. A key challenge in…
In this paper, the problem of trajectory design of unmanned aerial vehicles (UAVs) for maximizing the number of satisfied users is studied in a UAV based cellular network where the UAV works as a flying base station that serves users, and…
A flight trajectory defines how exactly a quadrocopter moves in the three-dimensional space from one position to another. Automatic flight trajectory planning faces challenges such as high computational effort and a lack of precision.…
To prolong the lifetime of the unmanned aerial vehicles (UAVs), the UAVs need to fulfill their missions in the shortest possible time. In addition to this requirement, in many applications, the UAVs require a reliable internet connection…
Offline optimal planning of trajectories for redundant robots along prescribed task space paths is usually broken down into two consecutive processes: first, the task space path is inverted to obtain a joint space path, then, the latter is…