Related papers: A new mathematical model and algorithm for the opt…
There is a growing demand for autonomous mobile robots capable of navigating unstructured agricultural environments. Tasks such as weed control in meadows require efficient path planning through an unordered set of coordinates while…
Multiple fixed-wing unmanned aerial vehicles (multi-UAVs) encounter significant challenges in cooperative path following over complex Digital Elevation Model (DEM) low-altitude airspace, including wind field disturbances, sudden obstacles,…
Robotic systems must be able to quickly and robustly make decisions when operating in uncertain and dynamic environments. While Reinforcement Learning (RL) can be used to compute optimal policies with little prior knowledge about the…
In this paper, we consider the problem of generating inspection paths for robots. These paths should allow an attached measurement device to perform high-quality measurements. We formally show that generating robot paths, while maximizing…
In this paper a search algorithm is proposed to find a sub optimal path for a non-holonomic system. For this purpose the algorithm starts sampling the front part of the vehicle and moves towards the destination with a cost function. The…
We present an efficient path planning algorithm for an Unmanned Aerial Vehicle surveying a cluttered urban landscape. A special emphasis is on maximizing area surveyed while adhering to constraints of the UAV and partially known and…
In this paper, we study the optimal control of a mixed-autonomy platoon driving on a single lane to smooth traffic flow. The platoon consists of autonomous vehicles, whose acceleration is controlled, and human-driven vehicles, whose…
Our aim is to present a new model which encompasses pace optimization and motor control effort for a runner on a fixed distance. We see that for long races, the long term behaviour is well approximated by a turnpike problem. We provide…
Finding shortest paths in a given network (e.g., a computer network or a road network) is a well-studied task with many applications. We consider this task under the presence of an adversary, who can manipulate the network by perturbing its…
The article presents a new method of linear programming, called the surface movement method. This method constructs an optimal objective path on the surface of the feasible polytope from the initial boundary point to the point at which the…
The use of visual sensors is flourishing, driven among others by the several applications in detection and prevention of crimes or dangerous events. While the problem of optimal camera placement for total coverage has been solved for a…
In this article the pursuit problem of objects that moves with different accelerations and initial speeds is studied. Initially, the situation in which the escaping object moves in a straight line is considered. Under this condition, and if…
This paper presents a novel strategy for a multi-agent pursuit-evasion game involving multiple faster pursuers with heterogenous speeds and a single slower evader. We define a geometric region, the evader's safe-reachable set, as the…
We present in this paper a numerical method which computes the optimal trajectory of a underwater vehicle subject to some mission objectives. The method is applied to a submarine whose goal is to best detect one or several targets, or/and…
In order to optimise the costs and time of design of the new products while improving their quality, concurrent engineering is based on the digital model of these products. However, in order to be able to avoid definitively physical model…
We present two models of perpetrators' decision-making in extracting resources from a protected area. It is assumed that the authorities conduct surveillance to counter the extraction activities, and that perpetrators choose their…
Indoor motion planning focuses on solving the problem of navigating an agent through a cluttered environment. To date, quite a lot of work has been done in this field, but these methods often fail to find the optimal balance between…
This article introduces a numerical algorithm that serves as a preliminary step toward solving continuous-time model predictive control (MPC) problems directly without explicit time-discretization. The chief ingredients of the underlying…
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…
We present a partial-differential-equation-based optimal path-planning framework for curvature constrained motion, with application to vehicles in 2- and 3-spatial-dimensions. This formulation relies on optimal control theory, dynamic…