Related papers: Constraint-Driven Multi-USV Coverage Path Generati…
Formation flight of unmanned aerial vehicles (UAVs) poses significant challenges in terms of safety and formation keeping, particularly in cluttered environments. However, existing methods often struggle to simultaneously satisfy these two…
The classical Model Predictive Path Integral (MPPI) control framework, while effective in many applications, lacks reliable safety features due to its reliance on a risk-neutral trajectory evaluation technique, which can present challenges…
Unmanned systems (USs) including unmanned aerial vehicles, unmanned underwater vehicles, and unmanned ground vehicles have great application prospects in military and civil fields, among which the process of finding feasible and optimal…
Autonomous navigation of Unmanned Surface Vehicles (USV) in marine environments with current flows is challenging, and few prior works have addressed the sensorbased navigation problem in such environments under no prior knowledge of the…
Communication-aware trajectory generation for unmanned aerial vehicles (UAVs) operating in urban environments requires simultaneous consideration of vehicle dynamics, wireless communication quality, obstacle avoidance, and onboard energy…
Unmanned Aerial Vehicle (UAV) spectral remote sensing technology is widely used in water quality monitoring. However, in dynamic environments, varying illumination conditions, such as shadows and specular reflection (sun glint), can cause…
The problem of constrained coverage path planning involves a robot trying to cover maximum area of an environment under some constraints that appear as obstacles in the map. Out of the several coverage path planning methods, we consider…
In this paper,we design a formation control systrm for multi-unmanned ground vehicles(UGV) from the prospective of path planning and path tracking.The master-slave control is adopted by electing out a main vehicle to address the problem of…
Micro Autonomous Surface Vehicles (MicroASVs) offer significant potential for operations in confined or shallow waters and swarm robotics applications. However, achieving precise and robust control at such small scales remains highly…
Deploying self-navigating surface vessels in inland waterways offers a sustainable alternative to reduce road traffic congestion and emissions. However, navigating confined waterways presents unique challenges, including narrow channels,…
We present a trajectory generation framework for control of wheeled vehicles under steering actuator constraints. The motivation is smooth autonomous driving of heavy vehicles. The key idea is to take into account rate, and additionally,…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
This paper presents a novel information-based mission planner for a drone tasked to monitor a spatially distributed dynamical phenomenon. For the sake of simplicity, the area to be monitored is discretized. The insight behind the proposed…
This paper addresses real-time dense 3D reconstruction for a resource-constrained Autonomous Underwater Vehicle (AUV). Underwater vision-guided operations are among the most challenging as they combine 3D motion in the presence of external…
Today, low-altitude fixed-wing Unmanned Aerial Vehicles (UAVs) are largely limited to primitively follow user-defined waypoints. To allow fully-autonomous remote missions in complex environments, real-time environment-aware navigation is…
We address the problem of achieving persistent surveillance over an environment by using energy-constrained unmanned aerial vehicles (UAVs), which are supported by unmanned ground vehicles (UGVs) serving as mobile charging stations.…
Wheeled robot navigation has been widely used in urban environments, but little research has been conducted on its navigation in wild vegetation. External sensors (LiDAR, camera etc.) are often used to construct point cloud map of the…
This paper addresses the Dynamic UGV-UAV Cooperative Path Planning (DUCPP) problem involving one unmanned ground vehicle (UGV) assisted by one or more unmanned aerial vehicles (UAVs) operating on an uncertain road network with potentially…
At shipping ports, some repetitive maneuvering tasks such as entering/leaving port, transporting goods inside it or just making surveillance activities, can be efficiently and quickly carried out by a domestic pilot according to his…
Visual perception is an important component for autonomous navigation of unmanned surface vessels (USV), particularly for the tasks related to autonomous inspection and tracking. These tasks involve vision-based navigation techniques to…