Related papers: Efficient Trajectory Planning and Control for USV …
Formation flight of unmanned aerial vehicles (UAVs) poses significant challenges in terms of safety and formation keeping, particularly in cluttered environments. However, existing methods often struggle to simultaneously satisfy these two…
This paper presents a novel recovery technique for a fixed-wing UAV (Unmanned Aerial Vehicle) based on constrained optimization: i) we propose a trajectory generation for landing the UAV where it first reduces its altitude by deep stalling,…
In this work, we propose a trajectory generation method for robotic systems with contact force constraint based on optimal control and reachability analysis. Normally, the dynamics and constraints of the contact-constrained robot are…
This research presents an online path planner for Unmanned Aerial Vehicles (UAVs) that can handle dynamic obstacles and UAV motion constraints, including maximum curvature and desired orientations. Our proposed planner uses a NURBS path…
In this paper we provide an optimal control based strategy to explore feasible trajectories of nonlinear systems, that is to find curves that satisfy the dynamics as well as point-wise state-input constraints. The strategy is interesting…
We present a trajectory generation framework for control of wheeled vehicles under steering actuator constraints. The motivation is smooth autonomous driving of heavy vehicles. The key idea is to take into account rate, and additionally,…
This paper presents real-time guidance strategies for unmanned aerial vehicles (UAVs) that can be used to enhance their flight endurance by utilizing {\sl insitu} measurements of wind speeds and wind gradients. In these strategies, periodic…
This paper studies a rechargeable unmanned aerial vehicle (UAV) assisted wireless network, where a UAV is dispatched to disseminate information to a group of ground terminals (GTs) and returns to a recharging station (RS) before the…
In this paper, we design a navigation policy for multiple unmanned aerial vehicles (UAVs) where mobile base stations (BSs) are deployed to improve the data freshness and connectivity to the Internet of Things (IoT) devices. First, we…
Expansion of today's underwater scenarios and missions necessitates the requestion for robust decision making of the Autonomous Underwater Vehicle (AUV); hence, design an efficient decision making framework is essential for maximizing the…
Designing spacecraft trajectories remains challenging in the presence of stochastic effects such as maneuver execution errors and observation uncertainties. Although covariance control and belief-space planning provide useful tools for…
This paper investigates the coordinated trajectory tracking problem of multiple vertical takeooff and landing (VTOL) unmanned aerial vehicles (UAVs). The case of unidirectional information flow is considered and the objective is to drive…
Accurate tracking of underwater acoustic sources is critical for a variety of marine applications, yet remains a challenging task due to communication constraints and environmental uncertainties. In this regard, this paper addresses the…
Unmanned aerial vehicle (UAV) tracking is critical for applications like surveillance, search-and-rescue, and autonomous navigation. However, the high-speed movement of UAVs and targets introduces unique challenges, including real-time…
This paper presents a hybrid route-path planning model for an Autonomous Underwater Vehicle's task assignment and management while the AUV is operating through the variable littoral waters. Several prioritized tasks distributed in a large…
Formation flight has a vast potential for aerial robot swarms in various applications. However, existing methods lack the capability to achieve fully autonomous large-scale formation flight in dense environments. To bridge the gap, we…
Due to changes in model dynamics or unexpected disturbances, an autonomous robotic system may experience unforeseen challenges during real-world operations which may affect its safety and intended behavior: in particular actuator and system…
In the last decade, a great effort has been employed in the study of Hybrid Unmanned Aerial Underwater Vehicles, robots that can easily fly and dive into the water with different levels of mechanical adaptation. However, most of this…
In this paper, we study the trajectory optimization of a cellular-connected unmanned aerial vehicle (UAV) which aims to sense the location of a target while maintaining satisfactory communication quality with the ground base stations…
Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…