Related papers: Time-Optimal Path Planning in a Constant Wind for …
This paper addresses the problem of finding shortest paths homotopic to a given disjoint set of paths that wind amongst point obstacles in the plane. We present a faster algorithm than previously known.
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…
Designing spacecraft trajectories remains challenging in the presence of stochastic effects such as maneuver execution errors and observation uncertainties. Although covariance control and belief-space planning provide useful tools for…
Current research on robust trajectory planning for autonomous agents aims to mitigate uncertainties arising from disturbances and modeling errors while ensuring guaranteed safety. Existing methods primarily utilize stochastic optimal…
Unmanned aerial vehicles (UAVs) are desirable platforms for time-efficient and cost-effective task execution. 3-D path planning is a key challenge for task decision-making. This paper proposes an improved multi-objective evolutionary…
Autonomous sailboats are well suited for long-duration ocean observation due to their wind-driven endurance. However, their performance is highly anisotropic and strongly influenced by inhomogeneous and time-varying wind and current fields,…
This paper presents a two-step algorithm for online trajectory planning in indoor environments with unknown obstacles. In the first step, sampling-based path planning techniques such as the optimal Rapidly exploring Random Tree (RRT*)…
SANDO is a safe trajectory planner for 3D dynamic unknown environments, where obstacle locations and motions are unknown a priori and a collision-free plan can become unsafe at any moment, requiring fast replanning. Existing soft-constraint…
We address the problem of reactive motion planning for quadrotors operating in unknown environments with dynamic obstacles. Our approach leverages a 4-dimensional spatio-temporal planner, integrated with vision-based Safe Flight Corridor…
Autonomous navigation is reshaping various domains in people's life by enabling efficient and safe movement in complex environments. Reliable navigation requires algorithmic approaches that compute optimal or near-optimal trajectories while…
We present Model Predictive Planning (MPP), a trajectory planner for low-agility vehicles such as a fixed-wing aircraft to navigate obstacle-laden environments. MPP consists of (1) a multi-path planning procedure that identifies candidate…
The AUV three-dimension path planning in complex turbulent underwater environment is investigated in this research, in which static current map data and uncertain static-moving time variant obstacles are taken into account. Robustness of…
This work presents an efficient method to solve a class of continuous-time, continuous-space stochastic optimal control problems of robot motion in a cluttered environment. The method builds upon a path integral representation of the…
Agile quadrotor flight pushes the limits of control, actuation, and onboard perception. While time-optimal trajectory planning has been extensively studied, existing approaches typically neglect the tight coupling between vehicle dynamics,…
Collision-free path planning is an essential requirement for autonomous exploration in unknown environments, especially when operating in confined spaces or near obstacles. This study presents an autonomous exploration technique using a…
In this paper, we tackle the problem of Unmanned Aerial (UA V) path planning in complex and uncertain environments by designing a Model Predictive Control (MPC), based on a Long-Short-Term Memory (LSTM) network integrated into the Deep…
We propose a method to generate robust and optimal trajectories for the transition of a tiltwing Vertical Take-Off and Landing (VTOL) aircraft leveraging concepts from convex optimisation, tube-based nonlinear Model Predictive Control (MPC)…
An innovative sort of mobility platform that can both drive and fly is the air-ground robot. The need for an agile flight cannot be satisfied by traditional path planning techniques for air-ground robots. Prior studies had mostly focused on…
This paper presents a method of finding the shortest path for an unmanned aerial vehicle (UAV) flying from an initial point to a target line at a constant altitude. The length of a Dubins path is derived as a function of the final position…
In this paper, a real-time quasi-optimal trajectory planning scheme is employed to guide an autonomous underwater vehicle (AUV) safely into a funnel-shape stationary docking station. By taking advantage of the direct method of calculus of…