Related papers: Trajectory-Based Optimization for Air Traffic Cont…
In this paper, we develop a framework for the automatic taxiing of aircraft between hangar and take-off given a graph-based model of an airport. We implement a high-level path-planning algorithm that models taxiway intersections as nodes in…
We consider the problem of finding collision-free paths for curvature-constrained systems in the presence of obstacles while minimizing execution time. Specifically, we focus on the setting where a planar system can travel at some range of…
This work explores the evolution of the Flight Operations Center (FOC) and flight trajectory exchange tools within Trajectory-Based Operations (TBO), emphasizing the benefits of the ICAO's Flight and Flow Information for a Collaborative…
This article proposes a novel control architecture using a centralized nonlinear model predictive control (CNMPC) scheme for controlling multiple micro aerial vehicles (MAVs). The control architecture uses an augmented state system to…
Platooning connected and autonomous vehicles (CAVs) provide significant benefits in terms of traffic efficiency and fuel economy. However, most existing platooning systems assume the availability of pre-determined plans, which is not…
This paper presents a safety-assured arrival-scheduling framework for Urban Air Mobility (UAM) corridor operations. We propose an analytical method to compute a sufficient ETA gap at Constrained Waypoints (CWPs) that guarantees longitudinal…
The Multi-Agent Path Finding (MAPF) problem entails finding collision-free paths for a set of agents, guiding them from their start to goal locations. However, MAPF does not account for several practical task-related constraints. For…
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…
In this paper we provide an optimal control based strategy to explore feasible trajectories of nonlinear systems, that is to find curves that satisfy the dynamics as well as point-wise state-input constraints. The strategy is interesting…
This work presents an efficient method to solve a class of continuous-time, continuous-space stochastic optimal control problems of robot motion in a cluttered environment. The method builds upon a path integral representation of the…
Accurate positioning and fast traversal times determine the productivity in machining applications. This paper demonstrates a hierarchical contour control implementation for the increase of productivity in positioning systems. The…
Trajectory planning for mobile robots in cluttered environments remains a major challenge due to narrow passages, where conventional methods often fail or generate suboptimal paths. To address this issue, we propose the adaptive trajectory…
Roadway reconfiguration is a crucial aspect of transportation planning, aiming to enhance traffic flow, reduce congestion, and improve overall road network performance with existing infrastructure and resources. This paper presents a novel…
Multiple parafoil landing is an enabling technology for massive supply delivery missions. However, it is still an open question to design a collision-free, computation-efficient guidance and control method for unpowered parafoils. To…
Generating obstacle-free trajectories for robotic manipulators in unstructured and cluttered environments remains a significant challenge. Existing motion planning methods often require additional computational effort to generate the final…
Movable antennas (MAs) have received increasing attention in wireless communications due to their capability of antenna position adjustment to reconfigure wireless channels. However, moving MAs results in non-negligible delay, which may…
In this paper, we develop a computationally-efficient approach to minimum-time trajectory optimization using input-output data-based models, to produce an end-to-end data-to-control solution to time-optimal planning/control of dynamic…
To realize autonomous shipping, autonomous berthing and unberthing are some of the technical challenges. In the past, numerous research have been done on the optimization of trajectory planning of berthing problems. However, these studies…
Motion planning is a critical component of intelligent unmanned systems, enabling their complex autonomous operations. However, current planning algorithms still face limitations in planning efficiency due to inflexible strategies and weak…
The unprecedented increase of commercial airlines and private jets over the next ten years presents a challenge for air traffic control. Precise flight trajectory prediction is of great significance in air transportation management, which…