Related papers: Path Planning for Aerial Relays via Probabilistic …

This work addresses the problem of vehicle path planning in the presence of obstacles and uncertainties, which is a fundamental problem in robotics. While many path planning algorithms have been proposed for decades, many of them have dealt…

Efficient aerial data collection is important in many remote sensing applications. In large-scale monitoring scenarios, deploying a team of unmanned aerial vehicles (UAVs) offers improved spatial coverage and robustness against individual…

Aerial networks, composed of Unmanned Aerial Vehicles (UAVs) acting as Wi-Fi access points or cellular base stations, are emerging as an interesting solution to provide on-demand wireless connectivity to users, when there is no network…

In this paper, we introduce a hierarchical decision-making framework for emerging mobility systems. Despite numerous studies focusing on optimizing vehicle flow, practical feasibility has often been overlooked. To address this gap, we…

We present an optimization-based method to plan the motion of an autonomous robot under the uncertainties associated with dynamic obstacles, such as humans. Our method bounds the marginal risk of collisions at each point in time by…

We consider unmanned aerial vehicle (UAV)-assisted wireless communication employing UAVs as relay nodes to increase the throughput between a pair of transmitter and receiver. We focus on developing effective methods to position the UAV(s)…

Safe autonomous navigation is an essential and challenging problem for robots operating in highly unstructured or completely unknown environments. Under these conditions, not only robotic systems must deal with limited localisation…

In this paper, we present a novel approach to efficiently generate collision-free optimal trajectories for multiple non-holonomic mobile robots in obstacle-rich environments. Our approach first employs a graph-based multi-agent path planner…

With the growing popularity of Unmanned Aerial Vehicles (UAVs) for consumer applications, the number of accidents involving UAVs is also increasing rapidly. Therefore, motion safety of UAVs has become a prime concern for UAV operators. For…

Target search with unmanned aerial vehicles (UAVs) is relevant problem to many scenarios, e.g., search and rescue (SaR). However, a key challenge is planning paths for maximal search efficiency given flight time constraints. To address…

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…

Search-based motion planning algorithms have been widely utilized for unmanned aerial vehicles (UAVs). However, deploying these algorithms on real UAVs faces challenges due to limited onboard computational resources. The algorithms struggle…

We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time. The framework obtains high levels of…

A reliable communication network is essential for multiple UAVs operating within obstacle-cluttered environments, where limited communication due to obstructions often occurs. A common solution is to deploy intermediate UAVs to relay…

Autonomous underwater vehicles (AUVs) are increasingly used in marine research, military applications, and undersea exploration. However, their operational range is significantly affected by battery performance. In this paper, a framework…

With technological advancement, drone has emerged as unmanned aerial vehicle that can be controlled by humans to fly or reach a destination. This may be autonomous as well, where the drone itself is intelligent enough to find a shortest…

Unmanned aerial vehicles (UAVs) are expected to be an integral part of wireless networks, and determining collision-free trajectory in multi-UAV non-cooperative scenarios while collecting data from distributed Internet of Things (IoT) nodes…

Unmanned Ariel Vehicle (UAV) services with 5G connectivity is an emerging field with numerous applications. Operator-controlled UAV flights and manual static flight configurations are major limitations for the wide adoption of scalability…

A framework is introduced for planning unmanned aerial vehicle flight paths for visual surveillance of ground targets, each having particular viewing requirements. Specifically, each target is associated with a set of imaging parameters,…

Parking a vehicle in tight spaces is a challenging task to perform due to the scarcity of feasible paths that are also collision-free. This paper presents a strategy to tackle this kind of maneuver with a modified Hybrid-A* path-planning…