Related papers: Three-dimensional Nonlinear Path-following Guidanc…
In this paper, we have studied the control problem of target-point based path following for car-type vehicles. This special path following task arises from the needs of vision based guidance systems, where a given target-point located ahead…
Path following controllers make the output of a control system approach and traverse a pre-specified path with no apriori time parametrization. In this paper we present a method for path following control design applicable to framed curves…
The recent years have witnessed increased development of small, autonomous fixed-wing Unmanned Aerial Vehicles (UAVs). In order to unlock widespread applicability of these platforms, they need to be capable of operating under a variety of…
This paper addresses path planning of an unmanned aerial vehicle (UAV) with remote sensing capabilities (or wireless communication capabilities). The goal of the path planning is to find a minimum-flight-time closed tour of the UAV visiting…
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,…
The performance optimization of UAV communication systems requires the joint design of UAV trajectory and communication efficiently. To tackle the challenge of infinite design variables arising from the continuous-time UAV trajectory…
This paper provides nonlinear tracking control systems for a quadrotor unmanned aerial vehicle (UAV) that are robust to bounded uncertainties. A mathematical model of a quadrotor UAV is defined on the special Euclidean group, and nonlinear…
A framework is introduced for planning unmanned aerial vehicle flight paths for visual surveillance of ground targets, each having particular viewing requirements. Specifically, each target is associated with a set of imaging parameters,…
In this paper the problem of guidance formulation for autonomous soft landing of unmanned aerial vehicles on stationary, moving, or accelerating / maneuvering ground vehicles at desired approach angles in both azimuth and elevation is…
In this paper, we formulate a virtual target-based path following guidance law aimed towards multi-vehicle path following problem. The guidance law is well suited to precisely follow circular paths while minting desired distance between two…
Fixed-wing unmanned aerial vehicles (UAVs) offer significant performance advantages over rotary-wing UAVs in terms of speed, endurance, and efficiency. However, these vehicles have traditionally been severely limited with regards to…
This research presents an online path planner for Unmanned Aerial Vehicles (UAVs) that can handle dynamic obstacles and UAV motion constraints, including maximum curvature and desired orientations. Our proposed planner uses a NURBS path…
This paper introduces a control architecture for real-time and onboard control of Unmanned Aerial Vehicles (UAVs) in environments with obstacles using the Model Predictive Path Integral (MPPI) methodology. MPPI allows the use of the full…
This paper studies the path design problem for cellular-connected unmanned aerial vehicle (UAV), which aims to minimize its mission completion time while maintaining good connectivity with the cellular network. We first argue that the…
This paper proposes a novel method for formation path following of multiple underactuated autonomous underwater vehicles. The method combines line-of-sight guidance with null-space-based behavioral control, allowing the vehicles to follow…
Vehicle trajectory optimization is essential to ensure vehicles travel efficiently and safely. This paper presents an infrastructure assisted constrained connected automated vehicles (CAVs) trajectory optimization method on curved roads.…
In this paper, we consider a new unmanned aerial vehicle (UAV)-assisted oblique image acquisition system where a UAV is dispatched to take images of multiple ground targets (GTs). To study the three-dimensional (3D) UAV trajectory design…
This paper presents a trajectory-tracking controller for multi-rotor unmanned aerial vehicles (UAVs) in scenarios where only the desired position and heading are known without the higher-order derivatives. The proposed solution modifies the…
Unmanned Aerial Vehicles (UAVs) are poised to revolutionize communications. Utilizing their flexibility and fast deployment, we can deliver content in congested areas or provide services in areas without infrastructure. In this paper, we…
In this paper, we study the three-dimensional (3D) path planning for a cellular-connected unmanned aerial vehicle (UAV) to minimize its flying distance from given initial to final locations, while ensuring a target link quality in terms of…