Related papers: Singularity-free Formation Path Following of Under…
Autonomous ground vehicles have been designed for the purpose of that relies on ranging and bearing information received from forward looking camera on the Formation control . A visual guidance control algorithm is designed where real time…
Ensuring safe driving while maintaining travel efficiency for autonomous vehicles in dynamic and occluded environments is a critical challenge. This paper proposes an occlusion-aware contingency safety-critical planning approach for…
We present a hybrid feedback control framework for autonomous robot navigation in n-dimensional Euclidean spaces cluttered with spherical obstacles. The proposed approach ensures safe and global navigation towards a target location by…
We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments containing obstacles, with arbitrary non-convex shapes, which can be in close proximity with each other, as long as there exists at least…
We present a three-step method to perform system identification and optimal control of non-linear systems. Our approach is mainly data driven and does not require active excitation of the system to perform system identification. In…
In the Optimal Velocity Model proposed as a new version of Car Following Model, it has been found that a congested flow is generated spontaneously from a homogeneous flow for a certain range of the traffic density. A well-established…
Controlling AUVs can be challenging because of the effect of complex non-linear hydrodynamic forces acting on the robot, which are significant in water and cannot be ignored. The problem is exacerbated for small AUVs for which the dynamics…
The study of robotic flocking has received significant attention in the past twenty years. In this article, we present a constraint-driven control algorithm that minimizes the energy consumption of individual agents and yields an emergent V…
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…
We propose a combined method for the collaborative transportation of a suspended payload by a team of rotorcraft. A recent distance-based formation-motion control algorithm based on assigning distance disagreements among robots generates…
The robotics community is increasingly interested in autonomous aerial transportation. Unmanned aerial vehicles with suspended payloads have advantages over other systems, including mechanical simplicity and agility, but pose great…
In this paper, we propose a trajectory optimization for computing smooth collision free trajectories for nonholonomic curvature bounded vehicles among static and dynamic obstacles. One of the key novelties of our formulation is a hierarchal…
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…
This article presents a three-dimensional nonlinear trajectory tracking control strategy for unmanned aerial vehicles (UAVs) in the presence of spatial constraints. As opposed to many existing control strategies, which do not consider…
Connected Automated Vehicles (CAVs) bring promise of increasing traffic capacity and energy efficiency by forming platoons with short headways on the road. However at low CAV penetration, the capacity gain will be small because the CAVs…
This paper presents a decentralized hybrid supervisory control approach for a team of unmanned helicopters that are involved in a leader-follower formation mission. Using a polar partitioning technique, the motion dynamics of the follower…
To eliminate the effect of ocean currents when addressing the optimal path in the underwater environment, an intelligent algorithm designed for the unmanned underwater vehicle (UUV) is proposed in this paper. The algorithm consists of two…
This paper presents a method for online trajectory planning in known environments. The proposed algorithm is a fusion of sampling-based techniques and model-based optimization via quadratic programming. The former is used to efficiently…
Nowadays an accurate modeling of the system to be controlled is essential for reliable autopilot. This paper presents a non-linear model of the autonomous underwater vehicle 'CWolf'. Matrices and the corresponding coefficients generate a…
We exhibit an algorithm with continuous instructions for two robots moving without collisions on a track shaped as a wedge of three circles. We show that the topological complexity of the configuration space associated with this problem is…