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Existing Global Path Planning (GPP) algorithms predominantly presume planning in static environments. This assumption immensely limits their applications to Unmanned Surface Vehicles (USVs) that typically navigate in dynamic environments.…
For unmanned aerial vehicle (UAV) trajectory design, the total propulsion energy consumption and initial-final location constraints are practical factors to consider. However, unlike traditional offline designs, these two constraints are…
Route planning for a fleet of vehicles is an important task in applications such as package delivery, surveillance, or transportation, often integrated within larger Intelligent Transportation Systems (ITS). This problem is commonly…
Motion planning for urban environments with numerous moving agents can be viewed as a combinatorial problem. With passing an obstacle before, after, right or left, there are multiple options an autonomous vehicle could choose to execute.…
This paper proposes MOON (Multi-Objective Optimization-driven Object-goal Navigation), a novel framework designed for efficient navigation in large-scale, complex indoor environments. While existing methods often rely on local heuristics,…
High-speed obstacle avoidance of uncrewed aerial vehicles (UAVs) in cluttered environments is a significant challenge. Existing UAV planning and obstacle avoidance systems can only fly at moderate speeds or at high speeds over empty or…
Autonomous exploration is a complex task where the robot moves through an unknown environment with the goal of mapping it. The desired output of such a process is a sequence of paths that efficiently and safely minimise the uncertainty of…
Optimal transport (OT) is a framework that can guide the design of efficient resource allocation strategies in a network of multiple sources and targets. This paper applies discrete OT to a swarm of UAVs in a novel way to achieve…
Finding the Time-Optimal Parameterization of a given Path (TOPP) subject to kinodynamic constraints is an essential component in many robotic theories and applications. The objective of this article is to provide a general, fast and robust…
Closed-loop optimal control design for high-dimensional nonlinear systems has been a long-standing challenge. Traditional methods, such as solving the associated Hamilton-Jacobi-Bellman equation, suffer from the curse of dimensionality.…
Cellular-connected unmanned aerial vehicles (UAVs) are expected to play an increasingly important role in future wireless networks. To facilitate the reliable navigation for cellular-connected UAVs, channel knowledge map (CKM) is considered…
We present a novel quantum optimization-based route compression technique that significantly reduces storage requirements compared to conventional methods. Route optimization systems face critical challenges in efficiently storing selected…
Nowadays, unmanned aerial vehicles or UAVs are being used for a wide range of tasks, including infrastructure inspection, automated monitoring and coverage. This paper investigates the problem of 3D inspection planning with an autonomous…
Operating unmanned aerial vehicles (UAVs) in complex environments that feature dynamic obstacles and external disturbances poses significant challenges, primarily due to the inherent uncertainty in such scenarios. Additionally, inaccurate…
Given a geometric path, the Time-Optimal Path Tracking problem consists in finding the control strategy to traverse the path time-optimally while regulating tracking errors. A simple yet effective approach to this problem is to decompose…
Coverage of an inaccessible or challenging region with potential health and safety hazards, such as in a volcanic region, is difficult yet crucial from scientific and meteorological perspectives. Areas contained within the region often…
In this paper, we investigate beamforming design and trajectory optimization for a multi-unmanned aerial vehicle (UAV)-assisted integrated sensing and communication (ISAC) system. The proposed system employs multiple UAVs equipped with…
We present a modular Bayesian optimization framework that efficiently generates time-optimal trajectories for a cooperative multi-agent system, such as a team of UAVs. Existing methods for multi-agent trajectory generation often rely on…
By fully exploiting the mobility of unmanned aerial vehicles (UAVs), UAV-based aerial base stations (BSs) can move closer to ground users to achieve better communication conditions. In this paper, we consider a scenario where an aerial BS…
Swarm trajectory optimization problems are a well-recognized class of multi-agent optimal control problems with strong nonlinearity. However, the heuristic nature of needing to set the final time for agents beforehand and the time-consuming…