Related papers: Obstacle-Free Path Planning for Autonomous Drones …
Path planning algorithms, such as the search-based A*, are a critical component of autonomous mobile robotics, enabling robots to navigate from a starting point to a destination efficiently and safely. We investigated the resilience of the…
Despite extensive developments in motion planning of autonomous aerial vehicles (AAVs), existing frameworks faces the challenges of local minima and deadlock in complex dynamic environments, leading to increased collision risks. To address…
Coordination of local and global aerial traffic has become a legal and technological bottleneck as the number of unmanned vehicles in the common airspace continues to grow. To meet this challenge, automation and decentralization of control…
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…
We consider the motion-planning problem of planning a collision-free path of a robot in the presence of risk zones. The robot is allowed to travel in these zones but is penalized in a super-linear fashion for consecutive accumulative time…
Future unmanned aerial vehicles (drones) will be shared by multiple users and will have to operate in conditions where their fully-autonomous function is required. Calculation of a drones trajectory will be important but optimal…
We consider optimal route planning when the objective function is a general nonlinear and non-monotonic function. Such an objective models user behavior more accurately, for example, when a user is risk-averse, or the utility function needs…
The robotics community is increasingly interested in autonomous aerial transportation. Unmanned aerial vehicles with suspended payloads have advantages over other systems, including mechanical simplicity and agility, but pose great…
Safety is extremely important for urban flights of autonomous Unmanned Aerial Vehicles (UAVs). Risk-aware path planning is one of the most effective methods to guarantee the safety of UAVs. This type of planning can be represented as a…
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…
In this paper, we propose a new method for path planning to a point for robot in environment with obstacles. The resulting algorithm is implemented as a simple variation of Dijkstra's algorithm. By adding a constraint to the shortest-path,…
This paper proposes a path planning algorithm for multi-agent unmanned aircraft systems (UASs) to autonomously cover a search area, while considering obstacle avoidance, as well as the capabilities and energy consumption of the employed…
Unmanned Aerial Vehicles have received much attention in recent years due to its wide range of applications, such as exploration of an unknown environment to acquire a 3D map without prior knowledge of it. Existing exploration methods have…
Motion planning in an autonomous agent is responsible for providing smooth, safe and efficient navigation. Many solutions for dealing this problem have been offered, one of which is, Artificial Potential Fields (APF). APF is a simple and…
Vector-based algorithms are novel algorithms in optimal any-angle path planning that are motivated by bug algorithms, bypassing free space by directly conducting line-of-sight checks between two queried points, and searching along obstacle…
In this paper, we address a minimum-time steering problem for a drone modeled as point mass with bounded acceleration, across a set of desired waypoints in the presence of gravity. We first provide a method to solve for the minimum-time…
We study the problem of planning collision-free paths for a group of homogeneous robots. We propose a novel approach for turning the paths that were planned egocentrically by the robots, e.g. without taking other robots' moves into account,…
This paper presents a triple optimization algorithm of two-dimensional space, driving path and driving speed, and iterates in the time dimension to obtain the local optimal solution of path and speed in the optimal driving area. Design…
This paper introduces a new path planning algorithm for unmanned aerial vehicles (UAVs) based on the teaching-learning-based optimization (TLBO) technique. We first define an objective function that incorporates requirements on the path…
Path planning in the multi-robot system refers to calculating a set of actions for each robot, which will move each robot to its goal without conflicting with other robots. Lately, the research topic has received significant attention for…