Related papers: Collision Avoidance Maneuvers Optimization in the …
We propose a variant of alternating direction method of multiplier (ADMM) to solve constrained trajectory optimization problems. Our ADMM framework breaks a joint optimization into small sub-problems, leading to a low iteration cost and…
Unmanned Aerial Vehicles (UAVs) are now becoming increasingly accessible to amateur and commercial users alike. The main task for UAVs is to keep a prescribed separation with obstacles in the air. In this paper, a collision-avoidance…
This paper presents the use of robust model predictive control for the design of an intent-aware collision avoidance system for multi-agent aircraft engaged in horizontal maneuvering scenarios. We assume that information from other agents…
Many commodity sensors that measure the robot and dynamic obstacle's state have non-Gaussian noise characteristics. Yet, many current approaches treat the underlying-uncertainty in motion and perception as Gaussian, primarily to ensure…
This paper proposes an algorithm which can be used in hybrid Coulomb spacecraft formations to minimize propellant by maximizing the amount of force that is generated by Coulomb forces. This problem is difficult due to the nonlinearities…
Active debris removal (ADR) missions have garnered significant interest as means of mitigating collision risks in space. This work proposes a convex optimization-based model predictive control (MPC) approach to provide guidance for such…
This paper investigates unmanned aerial vehicle (UAV) data collection systems with different multiple access schemes, where a rotary-wing UAV is dispatched to collect data from multiple ground nodes (GNs). Our goal is to maximize the…
In this work, we propose a method to efficiently compute smooth, time-optimal trajectories for micro aerial vehicles (MAVs) evading a moving obstacle. Our approach first computes an n-dimensional trajectory from the start- to an arbitrary…
Multi-robot coordination is fundamental to various applications, including autonomous exploration, search and rescue, and cooperative transportation. This paper presents an optimal consensus framework for multi-robot systems (MRSs) that…
This work addresses the problem of coupling vision-based navigation systems for Unmanned Aerial Vehicles (UAVs) with robust obstacle avoidance capabilities. The former problem is solved by maximizing the visibility of the points of…
This work develops feasible path trajectories for a coordinated strike with multiple aircraft in a constrained environment. Using direct orthogonal collocation methods, the two-point boundary value optimal control problem is transcribed…
This paper investigates the problem of computing a two-dimensional optimal curvature straight line (CS) shortest path for an unmanned aerial vehicle (UAV) to intercept a moving target, with both the UAV (pursuer) and target travelling at…
With the emergence of autonomous ground vehicles and the recent advancements in Intelligent Transportation Systems, Autonomous Traffic Management has garnered more and more attention. Autonomous Intersection Management (AIM), also known as…
Spacecraft equipped with multiple propulsion modes or systems can offer enhanced performance and mission flexibility compared with traditional configurations. Despite these benefits, the trajectory optimization of spacecraft utilizing such…
In recent years, computer simulators of rigid-body systems have been successfully used to improve and expand the field of developing new space robots, becoming a leading tool for the preliminary investigation and evaluation of space robotic…
Building and maintaining a space object catalog is necessary for space situational awareness. To realize this, one great challenge is uncooperative spacecraft maneuver detection because unknown maneuver events can lead to deviated orbital…
Achieving both safety guarantees and real-time performance in cooperative vehicle coordination remains a fundamental challenge, particularly in dynamic and uncertain environments. Existing methods often suffer from insufficient uncertainty…
The development of connected autonomous vehicles (CAVs) facilitates the enhancement of traffic efficiency in complicated scenarios. In unsignalized roundabout scenarios, difficulties remain unsolved in developing an effective and efficient…
The growing use of mobile robots in sectors such as automotive, agriculture, and rescue operations reflects progress in robotics and autonomy. In unmanned aerial vehicles (UAVs), most research emphasizes visual SLAM, sensor fusion, and path…
Despite the extensive application of nonlinear Model Predictive Control (MPC) in automated driving, balancing its computational efficiency with respect to the control performance and constraint satisfaction remains a challenge in emergency…