Related papers: Time-Optimal Path Planning in a Constant Wind for …

Time-critical tasks such as drone racing typically cover large operation areas. However, it is difficult and computationally intensive for current time-optimal motion planners to accommodate long flight distances since a large yet unknown…

This paper tackles the problem of planning minimum-energy coverage paths for multiple UAVs. The addressed Multi-UAV Coverage Path Planning (mCPP) is a crucial problem for many UAV applications such as inspection and aerial survey. However,…

Path planning in the presence of dynamic obstacles is a challenging problem due to the added time dimension in search space. In approaches that ignore the time dimension and treat dynamic obstacles as static, frequent re-planning is…

This article presents a framework and develops a formulation to solve a path planning problem for multiple heterogeneous Unmanned Vehicles (UVs) with uncertain service times for each vehicle--target pair. The vehicles incur a penalty…

This paper presents a method for online trajectory planning in known environments. The proposed algorithm is a fusion of sampling-based techniques and model-based optimization via quadratic programming. The former is used to efficiently…

Fixed-wing unmanned aerial vehicles (UAVs) offer significant performance advantages over rotary-wing UAVs in terms of speed, endurance, and efficiency. However, these vehicles have traditionally been severely limited with regards to…

This letter addresses the problem of trajectory planning in a marsupial robotic system consisting of an unmanned aerial vehicle (UAV) linked to an unmanned ground vehicle (UGV) through a non-taut tether with controllable length. To the best…

Autonomous uncrewed aerial vehicles (UAVs) can be utilized as aerial relays to serve users far from terrestrial infrastructure. Unfortunately, existing algorithms for aerial relay path planning cannot accommodate general flight constraints…

In this work, we address the trajectory optimization of a fixed-wing unmanned aerial vehicle (UAV) using free space optical communication (FSOC). Here, we focus on maximizing the flight time of the UAV by considering practical constraints…

Efficient data collection methods play a major role in helping us better understand the Earth and its ecosystems. In many applications, the usage of unmanned aerial vehicles (UAVs) for monitoring and remote sensing is rapidly gaining…

As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…

This paper addresses the Dubins path planning problem for vehicles in 3D space. In particular, we consider the problem of computing CSC paths -- paths that consist of a circular arc (C) followed by a straight segment (S) followed by a…

This paper explores a rapid, optimal smooth path-planning algorithm for robots (e.g., autonomous vehicles) in point cloud environments. Derivative maps such as dense point clouds, mesh maps, Octomaps, etc. are frequently used for path…

Unmanned Aerial Vehicles (UAVs) are emerging as very important tools in search and rescue (SAR) missions at sea, enabling swift and efficient deployment for locating individuals or vessels in distress. The successful execution of these…

We present improvements to a recently developed method for trajectory planning for autonomous surface vehicles (ASVs) in terms of run time. The original method combines two types of planners: An A* implementation that quickly finds the…

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…

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…

This paper addresses a UAV path planning task that seeks to observe a set of objects while satisfying the observation quality constraint. A dynamic programming algorithm is proposed that enables the UAV to observe the target objects with…

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 is concerned with characterizing the shortest path of a Dubins vehicle from a position with a prescribed heading angle to a target circle with the final heading tangential to the target circle. Such a shortest path is of…