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As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…
We design and analyze a novel accelerated gradient-based algorithm for a class of bilevel optimization problems. These problems have various applications arising from machine learning and image processing, where optimal solutions of the two…
We consider the problem of optimizing the trajectory of an Unmanned Aerial Vehicle (UAV). Assuming a traffic intensity map of users to be served, the UAV must travel from a given initial location to a final position within a given duration…
For accomplishing a variety of missions in challenging environments, the capability of navigating with full autonomy while avoiding unexpected obstacles is the most crucial requirement for UAVs in real applications. In this paper, we…
This paper studies the trajectory optimization problem for an aerial vehicle with the mission of flying between a pair of given initial and final locations. The objective is to minimize the travel time of the aerial vehicle ensuring that…
A novel framework is proposed for the trajectory design of multiple unmanned aerial vehicles (UAVs) based on the prediction of users' mobility information. The problem of joint trajectory design and power control is formulated for…
This work addresses the path planning problem for a group of unmanned aerial vehicles (UAVs) to maintain a desired formation during operation. Our approach formulates the problem as an optimization task by defining a set of fitness…
We present a solution to the problem of fairly planning a fleet of Unmanned Aerial Vehicles (UAVs) that have different missions and operators, such that no one operator unfairly gets to finish its missions early at the expense of others -…
Path Planning methods for autonomous control of Unmanned Aerial Vehicle (UAV) swarms are on the rise because of all the advantages they bring. There are more and more scenarios where autonomous control of multiple UAVs is required. Most of…
Agile quadrotor flight relies on rapidly planning and accurately tracking time-optimal trajectories, a technology critical to their application in the wild. However, the computational burden of computing time-optimal trajectories based on…
High-speed trajectory planning through unknown environments requires algorithmic techniques that enable fast reaction times while maintaining safety as new information about the operating environment is obtained. The requirement of…
Bilevel optimization has been developed for many machine learning tasks with large-scale and high-dimensional data. This paper considers a constrained bilevel optimization problem, where the lower-level optimization problem is convex with…
The environment plays a critical role in multi-agent navigation by imposing spatial constraints, rules, and limitations that agents must navigate around. Traditional approaches treat the environment as fixed, without exploring its impact on…
Advances in the Internet of Things are revolutionizing data acquisition, enhancing artificial intelligence and quality of service. Unmanned Aerial Vehicles (UAVs) provide an efficient data-gathering solution across varied environments. This…
Planning time-optimal trajectories for quadrotors in cluttered environments is a challenging, non-convex problem. This paper addresses minimizing the traversal time of a given collision-free geometric path without violating bounds on…
This letter introduces a Graph-Condensed Quantum-Inspired Placement (GC-QAP) framework for reliability-driven trajectory optimization in Uncrewed Aerial Vehicle (UAV) assisted low-altitude wireless networks. The dense waypoint graph is…
In this paper, we provide a hierarchical coordination framework for connected and automated vehicles (CAVs) at two adjacent intersections. This framework consists of an upper-level scheduling problem and a low-level optimal control problem.…
Quadrotors are among the most agile flying robots. However, planning time-optimal trajectories at the actuation limit through multiple waypoints remains an open problem. This is crucial for applications such as inspection, delivery, search…
Ensuring safety in autonomous vehicles necessitates advanced path planning and obstacle avoidance capabilities, particularly in dynamic environments. This paper introduces a bi-level control framework that efficiently augments road…
We introduce a decentralized and online path planning technique for a network of unmanned aerial vehicles (UAVs) in the presence of weather disturbances. In our problem setting, the group of UAVs are required to collaboratively visit a set…