Related papers: Mission Planning on Autonomous Avoidance for Space…
Dismantling aircrafts reaching their end of life is a complex endeavour that is necessary in terms of sustainability but yields small income margins for air transport companies. An efficient scheduling of the disassembly procedure is thus…
Space robotics poses unique challenges arising from the limitation of energy and computational resources, and the complexity of the environment and employed platforms. At the control center, offline motion planning is fundamental in the…
Given the cost and critical functions of satellite constellations, ensuring mission longevity and safe decommissioning is essential for space sustainability. This article presents a Model Predictive Control for spacecraft trajectory and…
Due to the complexity and inconstancy of the space environment, accurate mathematical models for spacecraft rendezvous are difficult to obtain, which consequently complicates the control tasks. In this paper, a linearized time-variant plant…
Optimal path planning problems for rigid and deformable (bendable) cuboid robots are considered by providing an analytic safety constraint using generalized $L_p$ norms. For regular cuboid robots, level sets of weighted $L_p$ norms generate…
Autonomous vehicles such as the Mars rovers currently lead the vanguard of surface exploration on extraterrestrial planets and moons. In order to accelerate the pace of exploration and science objectives, it is critical to plan safe and…
This paper presents an optimization-based collision avoidance trajectory generation method for autonomous driving in free-space environments, with enhanced robustness, driving comfort and efficiency. Starting from the hybrid…
This paper presents a novel method to generate spatial constraints for motion planning in dynamic environments. Motion planning methods for autonomous driving and mobile robots typically need to rely on the spatial constraints imposed by a…
Space missions are characterized by long distances, difficult or unavailable communication and high operating costs. Moreover, complexity has been constantly increasing in recent years. For this reason, improving the autonomy of space…
Autonomous navigation through unknown environments is a challenging task that entails real-time localization, perception, planning, and control. UAVs with this capability have begun to emerge in the literature with advances in lightweight…
A new path planning method for Mobile Robots (MR) has been developed and implemented. On the one hand, based on the shortest path from the start point to the goal point, this path planner can choose the best moving directions of the MR,…
This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…
Smooth and safe speed planning is imperative for the successful deployment of autonomous vehicles. This paper presents a mathematical formulation for the optimal speed planning of autonomous driving, which has been validated in…
The research and development of intelligent automation solutions is a ground-breaking point for the factory of the future. A promising and challenging mission is the use of autonomous robot systems to automate tasks in the field of…
This article aims to develop novel path planning algorithms required to deploy multiple unmanned vehicles in Global Positioning System (GPS) denied environments. Unmanned vehicles (ground or aerial) are ideal platforms for executing…
Trajectory planning for multiple robots in shared environments is a challenging problem especially when there is limited communication available or no central entity. In this article, we present Real-time planning using Linear Spatial…
Most, if not all, robot navigation systems employ a decomposed planning framework that includes global and local planning. To trade-off onboard computation and plan quality, current systems have to limit all robot dynamics considerations…
This paper investigates an efficient algorithm for trajectory planning problem of autonomous unmanned aerial vehicles which fly over three-dimensional terrains. The proposed algorithm combines convex optimization with disjunctive…
Robotic space missions have long depended on automation, defined in the 2015 NASA Technology Roadmaps as "the automatically-controlled operation of an apparatus, process, or system using a pre-planned set of instructions (e.g., a command…
Ensuring safe driving while maintaining travel efficiency for autonomous vehicles in dynamic and occluded environments is a critical challenge. This paper proposes an occlusion-aware contingency safety-critical planning approach for…