Related papers: Multi-UAV trajectory planning problem using the di…
This paper presents a scalable and fault-tolerant framework for unmanned aerial vehicle (UAV) mission management in complex and uncertain environments. The proposed approach addresses the computational bottleneck inherent in solving…
To be applicable to real world scenarios trajectory planning schemes for mobile autonomous systems must be able to efficiently deal with obstacles in the area of operation. In the context of optimization based trajectory planning and…
Designing robust trajectories under uncertainties is an emerging technology that may represent a key paradigm shift in space mission design. As we pursue more ambitious scientific goals (e.g., multi-moon tours, missions with extensive…
A method to compute optimal collision avoidance maneuvers for short-term encounters is presented. The maneuvers are modeled as multiple-impulses to handle impulsive cases and to approximate finite burn arcs associated either with short…
Limiting flight delays during operations has become a critical research topic in recent years due to their prohibitive impact on airlines, airports, and passengers. A popular strategy for addressing this problem considers the uncertainty of…
In this paper we propose a technique that assigns obstacles to clusters used for collision avoidance via Mixed-Integer Programming. This strategy enables a reduction in the number of binary variables used for collision avoidance, thus…
Unmanned aircraft systems can perform some more dangerous and difficult missions than manned aircraft systems. In some highly complicated and changeable tasks, such as air combat, the maneuvering decision mechanism is required to sense the…
This paper presents a numerical optimization algorithm for generating approach and landing trajectories for a six-degree-of-freedom (6-DoF) aircraft. We improve on the existing research on aircraft landing trajectory generation by…
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…
The paper presents a new approach to solve multifacility location problems, which is based on mixed integer programming and algorithms for minimizing differences of convex (DC) functions. The main challenges for solving the multifacility…
CAV platooning technology has received considerable attention in the past few years, driven by the next generation smart transportation systems. Unlike most of the existing platooning methods that focus on linear vehicle dynamics of CAVs,…
In this paper, we address the trajectory planning problem in uncertain nonconvex static and dynamic environments that contain obstacles with probabilistic location, size, and geometry. To address this problem, we provide a risk bounded…
In this paper, we investigate the resource allocation design for multicarrier (MC) systems employing a solar powered unmanned aerial vehicle (UAV) for providing communication services to multiple downlink users. We study the joint design of…
The unmanned aerial vehicle (UAV)-enabled communication technology is regarded as an efficient and effective solution for some special application scenarios where existing terrestrial infrastructures are overloaded to provide reliable…
We address the path planning problem for a cellular-enabled unmanned aerial vehicle (UAV) considering both connectivity and battery constraints. The UAV's mission is to expeditiously transport a payload from an initial point to a final…
Coverage path planning (CPP) is the task of designing a trajectory that enables a mobile agent to travel over every point of an area of interest. We propose a new method to control an unmanned aerial vehicle (UAV) carrying a camera on a CPP…
Effective communication for emergency vehicles - such as ambulances and fire trucks - is essential to support their operations in various traffic and environmental conditions. In this context, this paper investigates a vehicular…
We propose a computationally tractable, tube-based robust nonlinear model predictive control (MPC) framework using difference-of-convex (DC) functions and sequential convex programming. For systems with differentiable discrete time…
Path planning methods for the unmanned aerial vehicle (UAV) in goods delivery have drawn great attention from industry and academics because of its flexibility which is suitable for many situations in the "Last Kilometer" between customer…
This paper addresses the trajectory planning for multiple autonomous underwater vehicles (AUVs) in strong waves that can disturb the AUVs' trajectory tracking ability and cause obstacle and inter-vehicle collisions. A novel approach based…