Related papers: Distributed Spatial-Temporal Trajectory Optimizati…
Unmanned Aerial Vehicles (UAVs) have attracted great interest in the last few years owing to their ability to cover large areas and access difficult and hazardous target zones, which is not the case of traditional systems relying on direct…
Safe operation of systems such as robots requires them to plan and execute trajectories subject to safety constraints. When those systems are subject to uncertainties in their dynamics, it is challenging to ensure that the constraints are…
We introduce a new algorithm to solve constrained nonlinear optimal control problem, with an emphasis on low-thrust trajectory in highly nonlinear dynamics. The algorithm, dubbed Pontryagin-Bellman Differential Dynamic Programming (PDDP),…
The conventional direction of arrival (DOA) estimation methods are performed with multiple receiving channels. In this paper, a changeling DOA estimation problem is addressed in a different scenario with only one full-functional receiving…
We describe the orchestration of a decentralized swarm of rotary-wing UAV-relays, augmenting the coverage and service capabilities of a terrestrial base station. Our goal is to minimize the time-average service latencies involved in…
Large scale, non-convex optimization problems arising in many complex networks such as the power system call for efficient and scalable distributed optimization algorithms. Existing distributed methods are usually iterative and require…
This paper proposes a decentralized trajectory planning framework for the collision avoidance problem of multiple micro aerial vehicles (MAVs) in environments with static and dynamic obstacles. The framework utilizes spatiotemporal…
Premature convergence in particle swarm optimization (PSO) algorithm usually leads to gaining local optimum and preventing from surveying those regions of solution space which have optimal points in. In this paper, by applying special…
Trajectory optimization is an efficient approach for solving optimal control problems for complex robotic systems. It relies on two key components: first the transcription into a sparse nonlinear program, and second the corresponding solver…
This paper proposes a novel methodology for trajectory planning in autonomous vehicles (AVs), addressing the complex challenge of negotiating speed bumps within a unified Mixed-Integer Quadratic Programming (MIQP) framework. By leveraging…
Solving a collision-aware multi-agent mission planning (task allocation and path finding) problem is challenging due to the requirement of real-time computational performance, scalability, and capability of handling static/dynamic obstacles…
This paper presents a method for choosing a Particle Swarm Optimization based optimizer for the Dynamic Vehicle Routing Problem on the basis of the initially available data of a given problem instance. The optimization algorithm is chosen…
This paper presents a scalable online algorithm to generate safe and kinematically feasible trajectories for quadrotor swarms. Existing approaches rely on linearizing Euclidean distance-based collision constraints and on axis-wise…
This paper introduces a novel Differential Dynamic Programming (DDP) algorithm for solving discrete-time finite-horizon optimal control problems with inequality constraints. Two variants, namely Feasible- and Infeasible-IPDDP algorithms,…
The integration of unmanned aerial vehicles (UAVs) into wireless communication systems has emerged as a transformative approach, promising cost-efficient connectivity. This paper addresses the optimization of the dynamic time-splitting…
Optimization has been widely used to generate smooth trajectories for motion planning. However, existing trajectory optimization methods show weakness when dealing with large-scale long trajectories. Recent advances in parallel computing…
Unmanned aerial vehicles (UAVs) are envisioned to complement the 5G communication infrastructure in future smart cities. Hot spots easily appear in road intersections, where effective communication among vehicles is challenging. UAVs may…
As UAV popularity soars, so does the mission planning associated with it. The classical approaches suffer from the triple problems of decoupled of task assignment and path planning, poor real-time performance and limited adaptability.…
In this paper, the multi-target tracking (MTT) with an unmanned aerial vehicle (UAV) swarm is investigated in the presence of jammers, where UAVs in the swarm communicate with each other to exchange information of targets during tracking.…
This paper presents a new method for integrated time-optimal routing and trajectory optimization of multirotor unmanned aerial vehicles (UAVs). Our approach extends the well-known Traveling Salesman Problem by accounting for the limited…