Related papers: A Multiple Artificial Potential Functions Approach…
This paper presents a control law for stabilization and trajectory tracking of a multicopter subject to safety constraints. The proposed approach guarantees forward invariance of a prescribed safety set while ensuring smooth tracking…
Many unmanned aerial vehicles (UAVs) can remain aerodynamically flyable after sustaining structural or control surface damage, yet insufficient robustness in conventional autopilots often leads to mission failure. This paper proposes a…
Multi-Agent Path Finding (MAPF) is a fundamental problem in artificial intelligence and robotics, requiring the computation of collision-free paths for multiple agents navigating from their start locations to designated goals. As autonomous…
Obstacle avoidance is an important task in the field of robotics, since the goal of autonomous robot is to reach the destination without collision. Several algorithms have been proposed for obstacle avoidance, having drawbacks and benefits.…
This paper focuses on the continuous control of the unmanned aerial vehicle (UAV) based on a deep reinforcement learning method for a large-scale 3D complex environment. The purpose is to make the UAV reach any target point from a certain…
Safety is the foremost concern for autonomous platooning. The vehicle-to-vehicle (V2V) communication delay and the sudden appearance of obstacles will trigger the safety of the intended functionality (SOTIF) issues for autonomous…
The multi-agent pathfinding (MAPF) problem seeks collision-free paths for a team of agents from their current positions to their pre-set goals in a known environment, and is an essential problem found at the core of many logistics,…
Recent work on the multi-agent pathfinding problem (MAPF) has begun to study agents with motion that is more complex, for example, with non-unit action durations and kinematic constraints. An important aspect of MAPF is collision detection.…
Safe operation is essential for deploying robots in human-centered 3D environments. Soft continuum manipulators provide passive safety through mechanical compliance, but still require active control to achieve reliable collision avoidance.…
This work presents a sequential convex program method to compute fuel-optimal collision avoidance maneuvers for long-term encounters. The low-thrust acceleration model is used to account for the control, but the method can compute…
Unmanned Aerial Vehicles (UAVs), in particular Drones, have gained significant importance in diverse sectors, mainly military uses. Recently, we can see a growth in acceptance of autonomous UAVs in civilian spaces as well. However, there is…
This paper investigates the position-tracking control problem for fixed-wing unmanned aerial vehicles (UAVs) equipped with a turbojet engine via an integrated flight and propulsion control scheme. To this end, a hierarchical control…
The exponential growth of Advanced Air Mobility (AAM) services demands assurances of safety in the airspace. This research a Traffic Control Framework (TCF) for developing digital flight rules for Uncrewed Aircraft System (UAS) flying in…
This paper addresses the problem of controlling multiple unmanned aerial vehicles (UAVs) cooperating in a formation to carry out a complex task such as surface inspection. We first use the virtual leader-follower model to determine the…
Collision-free motion is a fundamental requirement for many autonomous systems. This paper develops a safety-critical control approach for the collision-free navigation of polytope-shaped agents in polytope-shaped environments. A systematic…
In this work, we propose a method to efficiently compute smooth, time-optimal trajectories for micro aerial vehicles (MAVs) evading a moving obstacle. Our approach first computes an n-dimensional trajectory from the start- to an arbitrary…
Autonomous vehicles (AVs) hold vast potential to enhance transportation systems by reducing congestion, improving safety, and lowering emissions. AV controls lead to emergent traffic phenomena; one such intriguing phenomenon is traffic…
Unmanned aerial vehicles (UAVs) have become very popular for many military and civilian applications including in agriculture, construction, mining, environmental monitoring, etc. A desirable feature for UAVs is the ability to navigate and…
With the rapid development of autonomous driving, the attention of academia has increasingly focused on the development of anti-collision systems in emergency scenarios, which have a crucial impact on driving safety. While numerous…
Polygonal collision avoidance (PCA) is short for the problem of collision avoidance between two polygons (i.e., polytopes in planar) that own their dynamic equations. This problem suffers the inherent difficulty in dealing with non-smooth…