Related papers: Optimal Trajectories for Multiple-UAS Simultaneous…
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…
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…
In this paper, we present a motion planning strategy for UAVs that generates a time-optimal trajectory to survey a given target area. There are several situations where completing an aerial survey is time sensitive, such as gaining…
As air traffic volume is continuously increasing, it has become a priority to improve traffic control algorithms to handle future air travel demand and improve airspace capacity. We address the conflict resolution problem in air traffic…
In this paper, we investigate the problem of coordinated path following for fixed-wing UAVs with speed constraints in 2D plane. The objective is to steer a fleet of UAVs along the path(s) while achieving the desired sequenced inter-UAV arc…
Recent low-thrust space missions have highlighted the importance of designing trajectories that are robust against uncertainties. In its complete form, this process is formulated as a nonlinear constrained stochastic optimal control…
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…
In this paper, we consider a new unmanned aerial vehicle (UAV)-assisted oblique image acquisition system where a UAV is dispatched to take images of multiple ground targets (GTs). To study the three-dimensional (3D) UAV trajectory design…
UAV trajectory planning is often done in a two-step approach, where a low-dimensional path is refined to a dynamic trajectory. The resulting trajectories are only locally optimal, however. On the other hand, direct planning in…
Unmanned Aerial Systems (UAS) have gained significant traction for their application in infrastructure inspections. However, considering the enormous scale and complex nature of infrastructure, automation is essential for improving the…
Unmanned aerial vehicles (UAVs) have gained popularity due to their flexible mobility, on-demand deployment, and the ability to establish high probability line-of-sight wireless communication. As a result, UAVs have been extensively used as…
In complex engineered systems, completing an objective is sometimes not enough. The system must be able to reach a set performance characteristic, such as an unmanned aerial vehicle flying from point A to point B, \textit{under 10 seconds}.…
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…
In this paper, we address the problem of computing optimal paths through three consecutive points for the curvature-constrained forward moving Dubins vehicle. Given initial and final configurations of the Dubins vehicle, and a midpoint with…
In this paper, we propose a framework for fast trajectory planning for unmanned aerial vehicles (UAVs). Our framework is reformulated from an existing bilevel optimization, in which the lower-level problem solves for the optimal trajectory…
Two-stage methods addressing continuous shortest path problems start local minimization from discrete shortest paths in a spatial graph. The convergence of such hybrid methods to global minimizers hinges on the discretization error induced…
In this study, we propose an algorithmic framework for solving a class of optimal control problems. This class is associated with the minimum-time interception of moving target problems, where a plant with a given state equation must…
Path planning is a major problem in autonomous vehicles. In recent years, with the increase in applications of Unmanned Aerial Vehicles (UAVs), one of the main challenges is path planning, particularly in adversarial environments. In this…
The paper presents a movement strategy for Connected and Automated Vehicles (CAVs) in a lane-free traffic environment with vehicle nudging by use of an optimal control approach. State-dependent constraints on control inputs are considered…
This paper introduces a trajectory planning algorithm for search and coverage missions with an Unmanned Aerial Vehicle (UAV) based on an uncertainty map that represents prior knowledge of the target region, modeled by a Gaussian Mixture…