Related papers: Enhancing AUV Autonomy With Model Predictive Path …

This paper presents the development and implementation of a Model Predictive Control (MPC) framework for trajectory tracking in autonomous vehicles under diverse driving conditions. The proposed approach incorporates a modular architecture…

Autonomous underwater vehicles (AUVs) are used in a wide range of underwater applications, ranging from seafloor mapping to industrial operations. While underwater, the AUV navigation solution commonly relies on the fusion between inertial…

Designing controllers that are both safe and performant is inherently challenging. This co-optimization can be formulated as a constrained optimal control problem, where the cost function represents the performance criterion and safety is…

Optimizing trajectory costs for nonlinear control systems remains a significant challenge. Model Predictive Control (MPC), particularly sampling-based approaches such as the Model Predictive Path Integral (MPPI) method, has recently…

Modeling and controlling cable-driven snake robots is a challenging problem due to nonlinear mechanical properties such as hysteresis, variable stiffness, and unknown friction between the actuation cables and the robot body. This challenge…

Model-based control is a crucial component of robotic navigation. However, it often struggles with entrapment in local minima due to its inherent nature as a finite, myopic optimization procedure. Previous studies have addressed this issue…

In this article we propose a reactive constrained navigation scheme, with embedded obstacles avoidance for an Unmanned Aerial Vehicle (UAV), for enabling navigation in obstacle-dense environments. The proposed navigation architecture is…

Unmanned Surface Vehicle (USV) is a new type of intelligent surface craft, and global path planning is the key technology of USV research, which can reflect the intelligent level of USV. In order to solve the problem of global path planning…

Model predictive control (MPC) is a powerful tool for planning and controlling dynamical systems due to its capacity for handling constraints and taking advantage of preview information. Nevertheless, MPC performance is highly dependent on…

Autonomous vehicles are the upcoming solution to most transportation problems such as safety, comfort and efficiency. The steering control is one of the main important tasks in achieving autonomous driving. Model predictive control (MPC) is…

This article proposes a novel Nonlinear Model Predictive Control (NMPC) framework for Micro Aerial Vehicle (MAV) autonomous navigation in constrained environments. The introduced framework allows us to consider the nonlinear dynamics of…

The use of autonomous underwater vehicles (AUVs) to accomplish traditionally challenging and dangerous tasks has proliferated thanks to advances in sensing, navigation, manipulation, and on-board computing technologies. Utilizing AUVs in…

Advances in hardware technology have enabled more integration of sophisticated software, triggering progress in the development and employment of Unmanned Vehicles (UVs), and mitigating restraints for onboard intelligence. As a result, UVs…

Promoting the levels of autonomy facilitates the vehicle in performing long-range operations with minimum supervision. The capability of Autonomous Underwater Vehicles (AUVs) to fulfill the mission objectives is directly influenced by route…

Autonomous underwater vehicles (AUVs) are increasingly used in many applications such as oceanographic surveys, mapping, and inspection of underwater structures. To successfully complete those tasks, a Doppler velocity log (DVL) and an…

Over the past few years, a plethora of advancements in Unmanned Areal Vehicle (UAV) technology has paved the way for UAV-based search and rescue operations with transformative impact to the outcome of critical life-saving missions. This…

This work explores the nature of augmented importance sampling in safety-constrained model predictive control problems. When operating in a constrained environment, sampling based model predictive control and motion planning typically…

This paper focuses on the trajectory optimization of an underwater suspended robotic system comprising an uncrewed surface vessel (USV) and an uncrewed underwater vehicle (UUV) for autonomous litter collection. The key challenge lies in the…

This article introduces a five-tiered route planner for accessing multiple nodes with multiple autonomous underwater vehicles (AUVs) that enables efficient task completion in stochastic ocean environments. First, the pre-planning tier…

Traditional approaches to motion modeling for skid-steer robots struggle with capturing nonlinear tire-terrain dynamics, especially during high-speed maneuvers. In this paper, we tackle such nonlinearities by enhancing a dynamic unicycle…