Related papers: An Integrated Real-time UAV Trajectory Optimizatio…
We address the problem of optimizing the performance of a dynamic system while satisfying hard safety constraints at all times. Implementing an optimal control solution is limited by the computational cost required to derive it in real…
Path planning for high-speed unmanned surface vehicles requires more complex solutions to reduce sailing time and save energy. This article proposes a new predictive artificial potential field that incorporates time information and…
The Potential Field (PF)-based path planning method is widely adopted for autonomous vehicles (AVs) due to its real-time efficiency and simplicity. PF often creates a rigid road boundary, and while this ensures that the ego vehicle…
Unmanned Aerial Vehicle (UAV) spectral remote sensing technology is widely used in water quality monitoring. However, in dynamic environments, varying illumination conditions, such as shadows and specular reflection (sun glint), can cause…
Multi-modal behaviors exhibited by surrounding vehicles (SVs) can typically lead to traffic congestion and reduce the travel efficiency of autonomous vehicles (AVs) in dense traffic. This paper proposes a real-time parallel trajectory…
Autonomous ground vehicle systems have found extensive potential and practical applications in the modern world. The development of an autonomous ground vehicle poses a significant challenge, particularly in identifying the best path plan,…
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…
The paper considers autonomous rendezvous maneuver and proximity operations of two spacecraft in presence of obstacles. A strategy that combines guidance and control algorithms is analyzed. The proposed closed-loop system is able to…
This study describes the development of a novel numerical optimization framework to maximize the endurance of unmanned aerial vehicles (UAVs). We address the problem of numerically determining the optimal thrust and cruise angle of attack…
Aircraft failures alter dynamics, diminishing manoeuvrability. Such manoeuvring flight envelope variations, governed by the aircraft's complex nonlinear dynamics, are unpredictable by pilots and existing flight management systems. To…
This paper presents a novel control method for a group of UAVs in obstacle-laden environments while preserving sensing network connectivity without data transmission between the UAVs. By leveraging constraints rooted in control barrier…
Optimal collision-free formation control of the unmanned aerial vehicle (UAV) is a challenge. The state-of-the-art optimal control approaches often rely on numerical methods sensitive to initial guesses. This paper presents an innovative…
In this paper, we propose an efficient and accurate method for autonomous surface vehicles to generate a smooth and collision-free trajectory considering its dynamics constraints. We decouple the trajectory planning problem as a front-end…
This paper considers the integration of gap-based local navigation methods with artificial potential field (APF) methods to derive a local planning module for hierarchical navigation systems that has provable collision-free properties.…
Autonomous driving has garnered significant attention for its potential to improve safety, traffic efficiency, and user convenience. However, the dynamic and complex nature of interactive driving poses significant challenges, including the…
This paper proposes a framework for 3D obstacle avoidance in the presence of partial observability of environment obstacles. The method focuses on the utility of the Artificial Potential Function (APF) controller in a practical setting…
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…
Unmanned aerial vehicle (UAV) path planning enables UAVs to avoid obstacles and reach the target efficiently. To generate high-quality paths without obstacle collision for UAVs, this paper proposes a novel autonomous path planning algorithm…
This paper presents a computationally efficient model predictive control formulation that uses an integral Chebyshev collocation method to enable rapid operations of autonomous agents. By posing the finite-horizon optimal control problem…
Path planning is critical for autonomous vehicles (AVs) to determine the optimal route while considering constraints and objectives. The potential field (PF) approach has become prevalent in path planning due to its simple structure and…