Related papers: SPOT: Spatio-Temporal Obstacle-free Trajectory Pla…
Path planning is a major problem in autonomous vehicles. In recent years, with the increase in applications of Unmanned Aerial Vehicles (UAVs), one of the main challenges is path planning, particularly in adversarial environments. In this…
This work presents a novel data-driven multi-layered planning and control framework for the safe navigation of a class of unmanned ground vehicles (UGVs) in the presence of unknown stationary obstacles and additive modeling uncertainties.…
This paper presents a real-time trajectory planning framework for Urban Air Mobility (UAM) that is both safe and scalable. The proposed framework employs a decentralized, free-flight concept of operation in which each aircraft independently…
Motion planning is an extremely well-studied problem in the robotics community, yet existing work largely falls into one of two categories: computationally efficient but with few if any safety guarantees, or able to give stronger guarantees…
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…
Motion planners for mobile robots in unknown environments face the challenge of simultaneously maintaining both robustness against unmodeled uncertainties and persistent feasibility of the trajectory-finding problem. That is, while dealing…
In this paper, we present an on-board vision-based approach for avoidance of moving obstacles in dynamic environments. Our approach relies on an efficient obstacle detection and tracking algorithm based on depth image pairs, which provides…
Planning high-speed trajectories for UAVs in unknown environments requires algorithmic techniques that enable fast reaction times to guarantee safety as more information about the environment becomes available. The standard approaches that…
We present a continuous-time collision detection algorithm for quickly detecting whether certain polynomial trajectories in time intersect with convex obstacles. The algorithm is used in conjunction with an existing multicopter trajectory…
Motion planning in the presence of multiple dynamic obstacles is an important research problem from the perspective of autonomous vehicles as well as space-constrained multi-robot work environment. In this paper, we address the motion…
The high mobility of unmanned aerial vehicles (UAVs) enables them to be used in various civilian fields, such as rescue and cargo transport. Path-following is a crucial way to perform these tasks while sensing and collision avoidance are…
In order to improve usability and safety, modern unmanned aerial vehicles (UAVs) are equipped with sensors to monitor the environment, such as laser-scanners and cameras. One important aspect in this monitoring process is to detect…
Simultaneous Localization and Planning (SLAP) under process and measurement uncertainties is a challenge. It involves solving a stochastic control problem modeled as a Partially Observed Markov Decision Process (POMDP) in a general…
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…
Energy efficiency is of critical importance to trajectory planning for UAV swarms in obstacle avoidance. In this paper, we present $E^2Coop$, a new scheme designed to avoid collisions for UAV swarms by tightly coupling Artificial Potential…
Search and rescue operations require unmanned aerial vehicles to both traverse unknown unstructured environments at high speed and track targets once detected. Achieving both capabilities under degraded sensing and without global…
Dynamic obstacle avoidance is one crucial component for compliant navigation in crowded environments. In this paper we present a system for accurate and reliable detection and tracking of dynamic objects using noisy point cloud data…
Trajectory replanning for quadrotors is essential to enable fully autonomous flight in unknown environments. Hierarchical motion planning frameworks, which combine path planning with path parameterization, are popular due to their time…
Compact UAV systems, while advancing delivery and surveillance, pose significant security challenges due to their small size, which hinders detection by traditional methods. This paper presents a cost-effective, unsupervised UAV detection…
This paper presents a method for robotic monitoring missions in the presence of moving obstacles. Although the scenario map is known, the robot lacks information about the movement of dynamic obstacles during the monitoring mission.…