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A method for trajectory smoothing for UAV reference path planning is presented. It is derived based on the dynamics of a Dubins airplane model, and involves a decoupling step, spatial modeling and linear programming. The decoupling step…
To prolong the lifetime of the unmanned aerial vehicles (UAVs), the UAVs need to fulfill their missions in the shortest possible time. In addition to this requirement, in many applications, the UAVs require a reliable internet connection…
Unmanned Aerial Vehicles (UAVs) promise to become an intrinsic part of next generation communications, as they can be deployed to provide wireless connectivity to ground users to supplement existing terrestrial networks. The majority of the…
We consider warm-started optimized trajectory planning for autonomous surface vehicles (ASVs) by combining the advantages of two types of planners: an A* implementation that quickly finds the shortest piecewise linear path, and an optimal…
SANDO is a safe trajectory planner for 3D dynamic unknown environments, where obstacle locations and motions are unknown a priori and a collision-free plan can become unsafe at any moment, requiring fast replanning. Existing soft-constraint…
Unmanned aerial vehicles combined with computer vision systems, such as convolutional neural networks, offer a flexible and affordable solution for terrain monitoring, mapping, and detection tasks. However, a key challenge remains the…
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…
This paper presents a novel self-supervised path-planning method for UAV-aided networks. First, we employed an optimizer to solve training examples offline and then used the resulting solutions as demonstrations from which the UAV can learn…
In this paper, we aim to sustain unmanned aerial vehicle (UAV) based missions for longer periods of times through different techniques. First, we consider on-the-mission UAV recharging by a low-power laser source (below 1 kilowatt). In…
Motion planning is a critical component of intelligent unmanned systems, enabling their complex autonomous operations. However, current planning algorithms still face limitations in planning efficiency due to inflexible strategies and weak…
Route planning for multiple Unmanned Aerial Vehicles (UAVs) is a series of translation and rotational steps from a given start location to the destination goal location. The goal of the route planning problem is to determine the most…
Autonomous Underwater Vehicles (AUVs) are capable of spending long periods of time for carrying out various underwater missions and marine tasks. In this paper, a novel conflict-free motion planning framework is introduced to enhance…
Thanks to their quick placement and high flexibility, unmanned aerial vehicles (UAVs) can be very useful in the current and future wireless communication systems. With a growing number of smart devices and infrastructure-free communication…
This letter aims to present a novel approach for unmanned aerial vehicles (UAV)' path planning with respect to certain quality of service requirements. More specifically, we study the max-min fairness problem in an air-to-ground…
This paper addresses a UAV path planning task that seeks to observe a set of objects while satisfying the observation quality constraint. A dynamic programming algorithm is proposed that enables the UAV to observe the target objects with…
Ensuring energy feasibility under wind uncertainty is critical for the safety and reliability of UAV delivery missions. In realistic truck-drone logistics systems, UAVs must deliver parcels and safely return under time-varying wind…
Unmanned aerial vehicles (UAVs) are increasingly utilized in global search and rescue efforts, enhancing operational efficiency. In these missions, a coordinated swarm of UAVs is deployed to efficiently cover expansive areas by capturing…
Uncrewed aerial vehicles (UAVs) are gaining increasing attention in wireless systems, providing new opportunities to expand the reach and improve the quality of wireless services. Despite their versatility, UAVs are limited by available…
We present a solution to the problem of fairly planning a fleet of Unmanned Aerial Vehicles (UAVs) that have different missions and operators, such that no one operator unfairly gets to finish its missions early at the expense of others -…
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…