Related papers: Safe and Efficient Trajectory Optimization for Aut…
Existing evaluation paradigms for Autonomous Vehicles (AVs) face critical limitations. Real-world evaluation is often challenging due to safety concerns and a lack of reproducibility, whereas closed-loop simulation can face insufficient…
Navigation of a team of autonomous underwater vehicles (AUVs) coordinated by an unmanned surface vehicle (USV) is efficient and reliable for deep ocean exploration. AUVs depart from and return to the USV after collaborative navigation, data…
Trajectory reconstruction is the process of inferring the path of a moving object between successive observations. In this paper, we propose a smoothing spline -- which we name the V-spline -- that incorporates position and velocity…
Effective risk monitoring in dynamic environments such as disaster zones requires an adaptive exploration strategy to detect hidden threats. We propose a bi-level unmanned aerial vehicle (UAV) monitoring strategy that efficiently integrates…
Trajectory planning is crucial for the safe driving of autonomous vehicles in highway traffic flow. Currently, some advanced trajectory planning methods utilize spatio-temporal voxels to construct feasible regions and then convert…
Autonomous vehicle navigation in structured environments requires planners capable of generating time-optimal, collision-free trajectories that satisfy dynamic and kinematic constraints. We introduce V*, a graph-based motion planner that…
Safe navigation of Micro Aerial Vehicles (MAVs) requires not only obstacle-free flight paths according to a static environment map, but also the perception of and reaction to previously unknown and dynamic objects. This implies that the…
The paper presents a vision-based obstacle avoidance strategy for lightweight self-driving cars that can be run on a CPU-only device using a single RGB-D camera. The method consists of two steps: visual perception and path planning. The…
In this paper, we propose a framework for fast trajectory planning for unmanned aerial vehicles (UAVs). Our framework is reformulated from an existing bilevel optimization, in which the lower-level problem solves for the optimal trajectory…
This paper proposes a novel mission planning algorithm for autonomous robots that selects an optimal waypoint sequence from a predefined set to maximize total reward while satisfying obstacle avoidance, state, input, derivative, mission…
Accurate and swift localization of the target is crucial in emergencies. However, accurate position data of a target mobile device, typically obtained from global navigation satellite systems (GNSS), cellular networks, or WiFi, may not…
An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…
Unmanned Aerial Vehicle (UAV) spectral remote sensing technology is widely used in water quality monitoring. However, in dynamic environments, varying illumination conditions, such as shadows and specular reflection (sun glint), can cause…
Aircraft failures alter dynamics, diminishing manoeuvrability. Such manoeuvring flight envelope variations, governed by the aircraft's complex nonlinear dynamics, are unpredictable by pilots and existing flight management systems. To…
Trajectory planning for connected and automated vehicles (CAVs) has the potential to improve operational efficiency and vehicle fuel economy in traffic systems. Despite abundant studies in this research area, most of them only consider…
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…
Efficient trajectory generation in complex dynamic environments remains an open problem in the unmanned surface vehicle (USV). The perception of the USV is usually interfered with by the swing of the hull and the ambient weather, making it…
The development of autonomous driving has boosted the research on autonomous racing. However, existing local trajectory planning methods have difficulty planning trajectories with optimal velocity profiles at racetracks with sharp corners,…
Coordinated control of connected and automated vehicles (CAVs) emerges as a promising technology to improve traffic safety, efficiency, and sustainability. Meanwhile, mixed traffic, where CAVs coexist with conventional human-driven vehicles…
High-speed obstacle avoidance of uncrewed aerial vehicles (UAVs) in cluttered environments is a significant challenge. Existing UAV planning and obstacle avoidance systems can only fly at moderate speeds or at high speeds over empty or…