Related papers: MMH-Planner: Multi-Mode Hybrid Trajectory Planning…
Motion planning is an essential process for the navigation of unmanned aerial vehicles (UAVs) where they need to adapt to obstacles and different structures of their operating environment to reach the goal. This paper presents an optimal…
Search-based motion planning algorithms have been widely utilized for unmanned aerial vehicles (UAVs). However, deploying these algorithms on real UAVs faces challenges due to limited onboard computational resources. The algorithms struggle…
High-speed obstacle avoidance of uncrewed aerial vehicles (UAVs) in cluttered environments is a significant challenge. Existing UAV planning and obstacle avoidance systems can only fly at moderate speeds or at high speeds over empty or…
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…
This paper investigates a hybrid compositional approach to optimal mission planning for multi-rotor Unmanned Aerial Vehicles (UAVs). We consider a time critical search and rescue scenario with two quadrotors in a constrained environment.…
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…
Current motion planning approaches for autonomous mobile robots often assume that the low level controller of the system is able to track the planned motion with very high accuracy. In practice, however, tracking error can be affected by…
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 present a hybrid compositional approach for real-time mission planning for multi-rotor unmanned aerial vehicles (UAVs) in a time critical search and rescue scenario. Starting with a known environment, we specify the mission using Metric…
This paper proposes a path planning algorithm for multi-agent unmanned aircraft systems (UASs) to autonomously cover a search area, while considering obstacle avoidance, as well as the capabilities and energy consumption of the employed…
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…
Hybrid locomotion, which combines multiple modalities of locomotion within a single robot, enables robots to carry out complex tasks in diverse environments. This paper presents a novel method for planning multi-modal locomotion…
Urban Air Mobility (UAM) systems are rapidly emerging as promising solutions to alleviate urban congestion, with path planning becoming a key focus area. Unlike ground transportation, UAM trajectory planning has to prioritize communication…
Future unmanned aerial vehicles (drones) will be shared by multiple users and will have to operate in conditions where their fully-autonomous function is required. Calculation of a drones trajectory will be important but optimal…
In general, optimal motion planning can be performed both locally and globally. In such a planning, the choice in favour of either local or global planning technique mainly depends on whether the environmental conditions are dynamic or…
Motion planning is an essential element of the modular architecture of autonomous vehicles, serving as a bridge between upstream perception modules and downstream low-level control signals. Traditional motion planners were initially…
Efficient aerial data collection is important in many remote sensing applications. In large-scale monitoring scenarios, deploying a team of unmanned aerial vehicles (UAVs) offers improved spatial coverage and robustness against individual…
In the last decade, a great effort has been employed in the study of Hybrid Unmanned Aerial Underwater Vehicles, robots that can easily fly and dive into the water with different levels of mechanical adaptation. However, most of this…
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…
Providing a higher level of decision autonomy and accompanying prompt changes of an uncertain environment is a true challenge of AUVs autonomous operations. The proceeding approach introduces a robust reactive structure that accommodates an…