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In this study a new approach is proposed for the generation of aircraft trajectories. The relative guidance of an aircraft, which is aimed to join in minimum time the track of a leader aircraft, is particularly considered. In a first place,…
Aircraft failures alter dynamics, diminishing manoeuvrability. Such manoeuvring flight envelope variations, governed by the aircraft's complex nonlinear dynamics, are unpredictable by pilots and existing flight management systems. To…
Quadrotors are among the most agile flying robots. However, planning time-optimal trajectories at the actuation limit through multiple waypoints remains an open problem. This is crucial for applications such as inspection, delivery, search…
This paper introduces an efficient $\mathcal{O}(n)$ compute and memory complexity algorithm for globally optimal path planning on 2D Cartesian grids. Unlike existing marching methods that rely on approximate discretized solutions to the…
This paper proposes a novel algorithm for aerobatic trajectory generation for a vertical take-off and landing (VTOL) tailsitter flying wing aircraft. The algorithm differs from existing approaches for fixed-wing trajectory generation, as it…
This paper presents an optimal guidance approach for a UAV navigation between two given points in 3D considering the wind influence. The proposed cost function to be minimized involves the weighting of the travel time and the control…
The research presents an automated method for determining the trajectory of an unmanned aerial vehicle (UAV) for wind turbine inspection. The proposed method enables efficient data collection from multiple wind installations using UAV…
This paper investigates an efficient algorithm for trajectory planning problem of autonomous unmanned aerial vehicles which fly over three-dimensional terrains. The proposed algorithm combines convex optimization with disjunctive…
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…
Feedback motion planning over cell decompositions provides a robust method for generating collision-free robot motion with formal guarantees. However, existing algorithms often produce paths with unnecessary bending, leading to slower…
We consider the problem of time-optimal path planning for simple nonholonomic vehicles. In previous similar work, the vehicle has been simplified to a point mass and the obstacles have been stationary. Our formulation accounts for a…
Within the standard framework of quasi-steady flight, this paper derives a speed that realizes the maximal obtainable range per unit of fuel. If this speed is chosen at each instant of a flight plan $h(x)$ giving altitude $h$ as a function…
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 presents a simple approach to low-thrust optimal-fuel and optimal-time transfer problems between two elliptic orbits using the Cartesian coordinates system. In this case, an orbit is described by its specific angular momentum and…
Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…
This paper presents a new methodology to craft navigation functions for nonlinear systems with stochastic uncertainty. The method relies on the transformation of the Hamilton-Jacobi-Bellman (HJB) equation into a linear partial differential…
In this article, we present the development of a two-step optimization framework to deal with the design and selection of aircraft departure routes and the allocation of flights among these routes. The aim of the framework is to minimize…
The multiple spacecraft guidance problem for proximity flight in libration point orbit is considered. A nonlinear optimal control problem with continuous-time path constraints enforcing minimum separation between each spacecraft is…
We propose a model for path-planning based on a single performance metric that accurately accounts for the the potential (spatially inhomogeneous) cost of breakdowns and repairs. These random breakdowns (or system faults) happen at a known,…
This paper studies the formation mission design problem for commercial aircraft in the presence of uncertainties. Specifically, it considers uncertainties in the departure times of the aircraft and in the fuel burn savings for the trailing…