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In this paper, we present a motion planning strategy for UAVs that generates a time-optimal trajectory to survey a given target area. There are several situations where completing an aerial survey is time sensitive, such as gaining…
Motion planning is a critical component of intelligent unmanned systems, enabling their complex autonomous operations. However, current planning algorithms still face limitations in planning efficiency due to inflexible strategies and weak…
This paper considers a collaborative tracking control problem using a group of fixed-wing unmanned aerial vehicles (UAVs) with constant and non-identical speeds. The dynamics of fixed-wing UAVs are modelled by unicycle-type equations with…
Efficient real-time trajectory planning and control for fixed-wing unmanned aerial vehicles is challenging due to their non-holonomic nature, complex dynamics, and the additional uncertainties introduced by unknown aerodynamic effects. In…
For intelligent quadcopter UAVs, a robust and reliable autonomous planning system is crucial. Most current trajectory planning methods for UAVs are suitable for static environments but struggle to handle dynamic obstacles, which can pose…
Avoiding hybrid obstacles in unknown scenarios with an efficient flight strategy is a key challenge for unmanned aerial vehicle applications. In this paper, we introduce a technique to distinguish dynamic obstacles from static ones with…
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…
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…
In the realm of unmanned aerial vehicle (UAV) tracking, Siamese-based approaches have gained traction due to their optimal balance between efficiency and precision. However, UAV scenarios often present challenges such as insufficient…
In this paper, we investigate a secure communication architecture based on unmanned aerial vehicle (UAV), which enhances the security performance of the communication system through UAV trajectory optimization. We formulate a control…
This paper introduces a trajectory planning algorithm for search and coverage missions with an Unmanned Aerial Vehicle (UAV) based on an uncertainty map that represents prior knowledge of the target region, modeled by a Gaussian Mixture…
As off-the-shelf (OTS) autopilots become more widely available and user-friendly and the drone market expands, safer, more efficient, and more complex motion planning and control will become necessary for fixed-wing aerial robotic…
An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…
Real-time long-range local planning is a challenging task, especially in the presence of dynamics obstacles. We propose a complete system which is capable of performing the local replanning in real-time. Desired trajectory is needed in the…
Operating unmanned aerial vehicles (UAVs) in complex environments that feature dynamic obstacles and external disturbances poses significant challenges, primarily due to the inherent uncertainty in such scenarios. Additionally, inaccurate…
Unmanned aerial vehicle (UAV) tracking is critical for applications like surveillance, search-and-rescue, and autonomous navigation. However, the high-speed movement of UAVs and targets introduces unique challenges, including real-time…
In this paper, a guidance and tracking control strategy for fixed-wing Unmanned Aerial Vehicle (UAV) autopilots is presented. The proposed control exploits recent results on sample-based stochastic Model Predictive Control, which allow…
This paper addresses a UAV path planning task that seeks to observe a set of objects while satisfying the observation quality constraint. A dynamic programming algorithm is proposed that enables the UAV to observe the target objects with…
Efficient trajectory generation in complex dynamic environments remains an open problem in the unmanned surface vehicle (USV). The perception of the USV is usually interfered with by the swing of the hull and the ambient weather, making it…
Avoiding hybrid obstacles in unknown scenarios with an efficient flight strategy is a key challenge for unmanned aerial vehicle applications. In this paper, we introduce a more robust technique to distinguish and track dynamic obstacles…