Related papers: Automatic Parameter Adaptation for Quadrotor Traje…
Multi robot systems have the potential to be utilized in a variety of applications. In most of the previous works, the trajectory generation for multi robot systems is implemented in known environments. To overcome that we present an online…
Financial markets are complex environments that produce enormous amounts of noisy and non-stationary data. One fundamental problem is online portfolio selection, the goal of which is to exploit this data to sequentially select portfolios of…
Aerial transportation robots using suspended cables have emerged as versatile platforms for disaster response and rescue operations. To maximize the capabilities of these systems, robots need to aggressively fly through tightly constrained…
For typical applications of UAVs in power grid scenarios, we construct the problem as planning UAV trajectories for coverage in cluttered environments. In this paper, we propose an optimal smooth coverage trajectory planning algorithm. The…
The task of maneuvering a multi-steered articulated vehicle in confined environments is difficult even for experienced drivers. In this work, we present an optimization-based trajectory planner targeting low-speed maneuvers in unstructured…
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…
Multi-robot systems have begun to permeate into a variety of different fields, but collision-free navigation in a decentralized manner is still an arduous task. Typically, the navigation of high speed multi-robot systems demands replanning…
This paper presents a novel trajectory planning method for aerial perching. Compared with the existing work, the terminal states and the trajectory durations can be adjusted adaptively, instead of being determined in advance. Furthermore,…
We tackle the problem of planning a minimum-time trajectory for a quadrotor over a sequence of specified waypoints in the presence of obstacles while exploiting the full quadrotor dynamics. This problem is crucial for autonomous search and…
Automatically tuning software configuration for optimizing a single performance attribute (e.g., minimizing latency) is not trivial, due to the nature of the configuration systems (e.g., complex landscape and expensive measurement). To deal…
This letter suggests an integrated approach for a drone (or multirotor) to perform an autonomous videography task in a 3-D obstacle environment by following a moving object. The proposed system includes 1) a target motion prediction module…
Many autonomous driving motion planners generate trajectories by optimizing a reward/cost functional. Designing and tuning a high-performance reward/cost functional for Level-4 autonomous driving vehicles with exposure to different driving…
When applying Machine Learning techniques to problems, one must select model parameters to ensure that the system converges but also does not become stuck at the objective function's local minimum. Tuning these parameters becomes a…
Motion planning is an essential part of autonomous mobile platforms. A good pipeline should be modular enough to handle different vehicles, environments, and perception modules. The planning process has to cope with all the different…
Advanced driver assistance systems have improved comfort, safety, and efficiency of modern vehicles. However, sensor limitations lead to noisy lane estimates that pose a significant challenge in developing performant control architectures.…
We present a modular framework to benchmark new and existing methods for trajectory planning and control in high-acceleration maneuvers that push autonomous driving to the limits. Our framework includes time-optimal raceline generation,…
The resurgence of lunar operations requires advancements in cislunar navigation and Space Situational Awareness (SSA). Challenges associated to these tasks have created an interest in autonomous planning, navigation, and tracking…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…
Although quadrotor navigation has achieved high performance in trajectory planning and control, real-time adaptability in unknown complex environments remains a core challenge. This difficulty mainly arises because most existing planning…
Basis splines enable a time-continuous feasibility check with a finite number of constraints. Constraints apply to the whole trajectory for motion planning applications that require a collision-free and dynamically feasible trajectory.…