Related papers: Efficient Trajectory Planning and Control for USV …
We address the theoretical and practical problems related to the trajectory generation and tracking control of tail-sitter UAVs. Theoretically, we focus on the differential flatness property with full exploitation of actual UAV aerodynamic…
Implementing fully automatic unmanned surface vehicles (USVs) monitoring water quality is challenging since effectively collecting environmental data while keeping the platform stable and environmental-friendly is hard to approach. To…
In this article, we address aquatic environmental monitoring using a fleet of unmanned surface vehicles (USVs). Specifically, we develop an online path generator that provides either circular or elliptic paths based on the real-time…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
Navigation of a team of autonomous underwater vehicles (AUVs) coordinated by an unmanned surface vehicle (USV) is efficient and reliable for deep ocean exploration. AUVs depart from and return to the USV after collaborative navigation, data…
Heterogeneous robot teams used in marine environments incur time-and-energy penalties when the marine vehicle has to halt the mission to allow the autonomous aerial vehicle to land for recharging. In this paper, we present a solution for…
All practical systems often pose a problem of finite control capability, which can notably degrade the performance if not properly addressed. Since actuator input bounds are typically known, integrating actuator saturation considerations…
Recently worldwide interest is growing toward commercial, military or scientific Unmanned Surface Vehicle (USV) and hence there is required to develop their guidance, navigation, and control (GNC) systems. Real USVs are a relatively new…
Generating locally optimal UAV-trajectories is challenging due to the non-convex constraints of collision avoidance and actuation limits. We present the first local, optimization-based UAV-trajectory generator that simultaneously guarantees…
This paper studies coordinated trajectory planning and tracking control for multiple unmanned surface vessels (USVs) under strict privacy requirements. To avoid the privacy risks associated with direct position sharing in conventional…
To perform autonomous driving maneuvers, such as parallel or perpendicular parking, a vehicle requires continual speed and steering adjustments to follow a generated path. In consequence, the path's quality is a limiting factor of the…
Unmanned surface vehicles (USVs) are of increasing importance to a growing number of sectors in the maritime industry, including offshore exploration, marine transportation and defence operations. A major factor in the growth in use and…
This letter addresses the problem of trajectory planning in a marsupial robotic system consisting of an unmanned aerial vehicle (UAV) linked to an unmanned ground vehicle (UGV) through a non-taut tether withcontrollable length. To the best…
We develop an algorithm to control an underactuated unmanned surface vehicle (USV) using kinodynamic motion planning with funnel control (KDF). KDF has two key components: motion planning used to generate trajectories with respect to…
The widespread use of unmanned aerial vehicles (UAVs) by the military, commercial companies, and academia continues to push research for autonomous vehicle navigation, particularly in varying environmental conditions and…
This paper addresses path planning of an unmanned aerial vehicle (UAV) with remote sensing capabilities (or wireless communication capabilities). The goal of the path planning is to find a minimum-flight-time closed tour of the UAV visiting…
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…
This letter addresses the problem of trajectory planning in a marsupial robotic system consisting of an unmanned aerial vehicle (UAV) linked to an unmanned ground vehicle (UGV) through a non-taut tether with controllable length. To the best…
Motion planning is an essential process for the navigation of unmanned aerial vehicles (UAVs) where they need to adapt to obstacles and different structures of their operating environment to reach the goal. This paper presents an optimal…
Object tracking in inland waterways plays a crucial role in safe and cost-effective applications, including waterborne transportation, sightseeing tours, environmental monitoring and surface rescue. Our Unmanned Surface Vehicle (USV),…