Related papers: Multi-UAV Path Following using Vector-Field Guidan…
This paper presents a new collision avoidance procedure for unmanned aerial vehicles in the presence of static and moving obstacles. The proposed procedure is based on a new form of local parametrized guidance vector fields, called…
In this paper, we investigate the problem of coordinated path following for fixed-wing UAVs with speed constraints in 2D plane. The objective is to steer a fleet of UAVs along the path(s) while achieving the desired sequenced inter-UAV arc…
Online path planning for multiple unmanned aerial vehicle (multi-UAV) systems is considered a challenging task. It needs to ensure collision-free path planning in real-time, especially when the multi-UAV systems can become very crowded on…
This paper addresses the three-dimensional path-following guidance problem for unmanned aerial vehicles under explicit actuator constraints. Unlike conventional approaches that assume unbounded control inputs or handle saturation…
This paper studies the leaderless formation flying problem with collision avoidance for a group of unmanned aerial vehicles (UAVs), which requires the UAVs to navigate through cluttered environments without colliding while maintaining the…
In this paper, we consider the tracking of arbitrary curvilinear geometric paths in three-dimensional output spaces of unmanned aerial vehicles (UAVs) without pre-specified timing requirements, commonly referred to as path-following…
Existing studies on formation control for unmanned aerial vehicles (UAV) have not considered encircling targets where an optimum coverage of the target is required at all times. Such coverage plays a critical role in many real-world…
Reference path following is a key component in the functioning of almost all engineered autonomous agents. Among several path following guidance methods in existing literature, vector-field-based guidance approach has got wide attention…
It is essential in many applications to impose a scalable coordinated motion control on a large group of mobile robots, which is efficient in tasks requiring repetitive execution, such as environmental monitoring. In this paper, we design a…
In this paper, we formulate a virtual target-based path following guidance law aimed towards multi-vehicle path following problem. The guidance law is well suited to precisely follow circular paths while minting desired distance between two…
This article presents a three-dimensional nonlinear trajectory tracking control strategy for unmanned aerial vehicles (UAVs) in the presence of spatial constraints. As opposed to many existing control strategies, which do not consider…
Collision-free path planning is the most crucial component in multi-UAV formation-flying (MFF). We use unlabeled homogenous quadcopters (UAVs) to demonstrate the use of a flow network to create complete (inter-UAV) collision-free paths.…
A novel prize-winner algorithm designed for a path following problem within the Unmanned Aerial Vehicle (UAV) field is presented in this paper. The proposed approach exploits the advantages offered by the pure pursuing algorithm to set up…
Unmanned aerial vehicle (UAV) path planning enables UAVs to avoid obstacles and reach the target efficiently. To generate high-quality paths without obstacle collision for UAVs, this paper proposes a novel autonomous path planning algorithm…
Given the spatial heterogeneity of land use patterns in most cities, large-scale UAM deployments will likely focus on specific areas, such as intertransfer traffic between suburbs and city centers. However, large-scale UAM operations…
This paper studies the collision avoidance problem for autonomous multiple fixedwing UAVs in the complex integrated airspace. By studying and combining the online path planning method, the distributed model predictive control algorithm, and…
In this paper, we propose a reachable set based collision avoidance algorithm for unmanned aerial vehicles (UAVs). UAVs have been deployed for agriculture research and management, surveillance and sensor coverage for threat detection and…
This paper presents a novel feedback method on the motion planning for unicycle robots in environments with static obstacles, along with an extension to the distributed planning and coordination in multi-robot systems. The method employs a…
Cooperative control of multi-UAV systems has attracted substantial research attention due to its significance in various application sectors such as emergency response, search and rescue missions, and critical infrastructure inspection.…
This paper presents a new connectivity condition on the information flow between UAVs to achieve coordinated path following. The information flow is directional, so that the underlying communication network topology is represented by a…