Related papers: A reformulation of collision avoidance algorithm b…
Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…
It is of great challenge, though promising, to coordinate collective robots for hunting an evader in a decentralized manner purely in light of local observations. In this paper, this challenge is addressed by a novel hybrid cooperative…
We present a hierarchical control approach for maneuvering an autonomous vehicle (AV) in tightly-constrained environments where other moving AVs and/or human driven vehicles are present. A two-level hierarchy is proposed: a high-level…
Cooperative autonomous approaches to avoiding collisions among small Unmanned Aerial Vehicles (UAVs) is central to safe integration of UAVs within the civilian airspace. One potential online cooperative approach is the concept of reciprocal…
Urban Air Mobility is a new concept of regional aviation that has been growing in popularity as a solution to the issue of ever-increasing ground traffic. Electric vehicles with vertical take-off and landing capabilities are being developed…
Safe flight in dynamic environments requires unmanned aerial vehicles (UAVs) to make effective decisions when navigating cluttered spaces with moving obstacles. Traditional approaches often decompose decision-making into hierarchical…
Fixed-wing Unmanned Aerial Vehicles (UAVs) are one of the most commonly used platforms for the burgeoning Low-altitude Economy (LAE) and Urban Air Mobility (UAM), due to their long endurance and high-speed capabilities. Classical obstacle…
This paper addresses the problem of guiding a quadrotor through a predefined sequence of waypoints in cluttered environments, aiming to minimize the flight time while avoiding collisions. Previous approaches either suffer from prolonged…
The space environment around the Earth is becoming increasingly populated by both active spacecraft and space debris. To avoid potential collision events, significant improvements in Space Situational Awareness (SSA) activities and…
Model-based control is a crucial component of robotic navigation. However, it often struggles with entrapment in local minima due to its inherent nature as a finite, myopic optimization procedure. Previous studies have addressed this issue…
This paper addresses the challenge of navigating unmanned aerial vehicles in contested environments by introducing a cooperative multi-agent framework that increases the likelihood of safe UAV traversal. The approach involves two types of…
With the rapidly growing interest in autonomous navigation, the body of research on motion planning and collision avoidance techniques has enjoyed an accelerating rate of novel proposals and developments. However, the complexity of new…
The next generation of aircraft collision avoidance systems frame the problem as a Markov decision process and use dynamic programming to optimize the alerting logic. The resulting system uses a large lookup table to determine advisories…
Avoiding hybrid obstacles in unknown scenarios with an efficient flight strategy is a key challenge for unmanned aerial vehicle applications. In this paper, we introduce a more robust technique to distinguish and track dynamic obstacles…
A core challenge of multi-robot interactions is collision avoidance among robots with potentially conflicting objectives. We propose a game-theoretic method for collision avoidance based on rotating hyperplane constraints. These constraints…
Recent advances in multi-agent systems manipulation have demonstrated a rising demand for the implementation of multi-UAV systems in urban areas which are always subjected to the presence of static and dynamic obstacles. The focus of the…
This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid…
The anticipated widespread use of unmanned aerial vehicles (UAVs) raises significant safety and security concerns, including trespassing in restricted areas, colliding with other UAVs, and disrupting high-traffic airspaces. To mitigate…
This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control…
Autonomous navigation in unknown environments with obstacles remains challenging for micro aerial vehicles (MAVs) due to their limited onboard computing and sensing resources. Although various collision avoidance methods have been…