Related papers: Simple Trajectory Smoothing for UAV Reference Path…
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…
This paper is concerned with the minimum-time path-planning problem for a Dubins airplane under the influence of steady wind. The path-planning problem, by transforming into the air-relative frame, is equivalent to finding the minimum-time…
Agile trajectory planning can improve the efficiency of multi-rotor Uncrewed Aerial Vehicles (UAVs) in scenarios with combined task-oriented and kinematic trajectory planning, such as monitoring spatio-temporal phenomena or intercepting…
This paper presents an algorithm for solving the problem of tracking smooth curves by a fixed wing unmanned aerial vehicle travelling with a constant airspeed and under a constant wind disturbance. The algorithm is based on the idea of…
Within the context of in-field path planning, and under the assumption of nonholonomic vehicle models, this paper addresses two tasks: smoothing of headland path edges and smoothing of headland-to-mainfield lane transitions. Both tasks are…
A complete model of the motion of a quadcopter along a smooth spatial trajectory is presented. Based on the model, a robust algorithm is proposed for controlling a quadcopter using measurements of linear coordinates and yaw angle. By…
This paper presents a method based on linear programming for trajectory planning of automated vehicles, combining obstacle avoidance, time scheduling for the reaching of waypoints and time-optimal traversal of tube-like road segments.…
Mobile manipulation planning commonly adopts a decoupled approach that performs planning separately on the base and the manipulator. While this approach is fast, it can generate sub-optimal paths. Another direction is a coupled approach…
To perform autonomous driving maneuvers, such as parallel or perpendicular parking, a vehicle requires continual speed and steering adjustments to follow a generated path. In consequence, the path's quality is a limiting factor of the…
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…
Formation flight of unmanned aerial vehicles (UAVs) poses significant challenges in terms of safety and formation keeping, particularly in cluttered environments. However, existing methods often struggle to simultaneously satisfy these two…
In this paper, a new demonstration-based path-planning framework for the visual inspection of large structures using UAVs is proposed. We introduce UPPLIED: UAV Path PLanning for InspEction through Demonstration, which utilizes a…
Efficiently planning an Unmanned Aerial Vehicle (UAV) path is crucial, especially in dynamic settings where potential threats are prevalent. A Dynamic Path Planner (DPP) for UAV using the Spherical Vector-based Particle Swarm Optimisation…
This paper proposes a sliding mode controller with smooth control effort for a class of nonlinear plants. The proposed controller is created by allowing some constant parameters of the earlier smooth sliding control (SSC) to vary as a…
This paper presents a technique to cope with the gap between high-level planning, e.g., reference trajectory tracking, and low-level controlling using a learning-based method in the plan-based control paradigm. The technique improves the…
Semantic segmentation of aerial imagery is an important tool for mapping and earth observation. However, supervised deep learning models for segmentation rely on large amounts of high-quality labelled data, which is labour-intensive and…
The main contribution of this paper is a novel method for planning globally optimal trajectories for dynamical systems subject to polygonal constraints. The proposed method is a hybrid trajectory planning approach, which combines graph…
This paper presents real-time guidance strategies for unmanned aerial vehicles (UAVs) that can be used to enhance their flight endurance by utilizing {\sl insitu} measurements of wind speeds and wind gradients. In these strategies, periodic…
This paper investigates the problem of planning a minimum-length tour for a three-dimensional Dubins airplane model to visually inspect a series of targets located on the ground or exterior surface of objects in an urban environment.…
Distributed model predictive control (DMPC) is often used to tackle path planning for unmanned aerial vehicle (UAV) swarms. However, it requires considerable computations on-board the UAV, leading to increased weight and power consumption.…