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For real applications of unmanned aerial vehicles, the capability of navigating with full autonomy in unknown environments is a crucial requirement. However, planning a shorter path with less computing time is contradictory. To address this…

This paper presents a novel approach to utilizing underactuated quadrotor Unmanned Aerial Vehicles (UAVs) as assistive devices in cooperative payload transportation task through human guidance and physical interaction. The proposed system…

We propose developing an integrated system to keep autonomous unmanned aircraft safely separated and behave as expected in conjunction with manned traffic. The main goal is to achieve safe manned-unmanned vehicle teaming to improve system…

Maintaining a map online is resource-consuming while a robust navigation system usually needs environment abstraction via a well-fused map. In this paper, we propose a mapless planner which directly conducts such abstraction on the unfused…

Motion planning is an extremely well-studied problem in the robotics community, yet existing work largely falls into one of two categories: computationally efficient but with few if any safety guarantees, or able to give stronger guarantees…

Radio maps find numerous applications in wireless communications and mobile robotics tasks, including resource allocation, interference coordination, and mission planning. Although numerous techniques have been proposed to construct radio…

One of the major restrictions on the practical applications of unmanned aerial vehicles (UAV) is their incomplete self-sufficiency, which makes continuous operations infeasible without human oversights. The more oversight UAVs require, the…

This paper presents a non-linear optimization method for trajectory planning of tethered aerial robots. Particularly, the paper addresses the planning problem of an unmanned aerial vehicle (UAV) linked to an unmanned ground vehicle (UGV) by…

Small unmanned aerial vehicles (UAVs) have become standard tools in reconnaissance and surveying for both civilian and defense applications. In the future, UAVs will likely play a pivotal role in autonomous package delivery, but current…

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…

This paper addresses the problem of tracking the position of a cable-suspended payload carried by an unmanned aerial vehicle, with a focus on real-world deployment and minimal hardware requirements. In contrast to many existing approaches…

Path planning for high-speed unmanned surface vehicles requires more complex solutions to reduce sailing time and save energy. This article proposes a new predictive artificial potential field that incorporates time information and…

In the path planning problem of autonomous application, the existing studies separately consider the path planning and trajectory tracking control of the autonomous vehicle and few of them have integrated the trajectory planning and…

In this paper we provide an optimal control based strategy to explore feasible trajectories of nonlinear systems, that is to find curves that satisfy the dynamics as well as point-wise state-input constraints. The strategy is interesting…

Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant…

This paper studies the leaderless formation flying problem with collision avoidance for a group of unmanned aerial vehicles (UAVs), which requires the UAVs to navigate through cluttered environments without colliding while maintaining the…

We present an open-source system for Micro-Aerial Vehicle autonomous navigation from vision-based sensing. Our system focuses on dense mapping, safe local planning, and global trajectory generation, especially when using narrow field of…

Path planning in dynamic environments is essential to high-risk applications such as unmanned aerial vehicles, self-driving cars, and autonomous underwater vehicles. In this paper, we generate collision-free trajectories for a robot within…

Autonomous inspection of large geographical areas is a central requirement for efficient hazard detection and disaster management in future cyber-physical systems such as smart cities. In this regard, exploiting unmanned aerial vehicle…

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…