Related papers: KIO-planner: Attention-Guided Single-Stage Motion …
In drone racing, the time-minimum trajectory is affected by the drone's capabilities, the layout of the race track, and the configurations of the gates (e.g., their shapes and sizes). However, previous studies neglect the configuration of…
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 a vision-only autonomous flight system for small UAVs operating in controlled indoor environments. The system combines semantic segmentation with monocular depth estimation to enable obstacle avoidance, scene…
Existing Vision-Language Navigation (VLN) methods typically adopt an egocentric, step-by-step paradigm, which struggles with error accumulation and limits efficiency. While recent approaches attempt to leverage pre-built environment maps,…
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…
Autonomous flight of micro air vehicles (MAVs) in unknown, cluttered environments remains challenging for time-critical missions due to conservative maneuvering strategies. This article presents an integrated planning and control framework…
To solve the autonomous navigation problem in complex environments, an efficient motion planning approach is newly presented in this paper. Considering the challenges from large-scale, partially unknown complex environments, a three-layer…
Safe Interval Path Planning (SIPP) is a powerful algorithm for solving single-agent pathfinding problem when the agent is confined to a graph and certain vertices/edges of this graph are blocked at certain time intervals due to dynamic…
We train embodied neural networks to plan and navigate unseen complex 3D environments, emphasising real-world deployment. Rather than requiring prior knowledge of the agent or environment, the planner learns to model the state transitions…
In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…
This paper proposes MOON (Multi-Objective Optimization-driven Object-goal Navigation), a novel framework designed for efficient navigation in large-scale, complex indoor environments. While existing methods often rely on local heuristics,…
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…
We propose a novel physical layer security scheme that exploits an optimization method as a one-way function. The proposed scheme builds on nonsquare differential multiple-input multiple-output (MIMO), which is capable of noncoherent…
Unmanned Aerial Vehicle (UAV) spectral remote sensing technology is widely used in water quality monitoring. However, in dynamic environments, varying illumination conditions, such as shadows and specular reflection (sun glint), can cause…
Lightweight long-range mapping is critical for safe navigation of UAV swarms in large-scale unknown environments. Traditional stereo vision systems with fixed short baselines face limited perception ranges. To address this, we propose…
Trajectory generation for fully autonomous flights of tail-sitter unmanned aerial vehicles (UAVs) presents substantial challenges due to their highly nonlinear aerodynamics. In this paper, we introduce, to the best of our knowledge, the…
Decision-making and motion planning constitute critical components for ensuring the safety and efficiency of autonomous vehicles (AVs). Existing methodologies typically adopt two paradigms: decision then planning or generation then scoring.…
This paper presents a motion planner for systems subject to kinematic and dynamic constraints. The former appear when kinematic loops are present in the system, such as in parallel manipulators, in robots that cooperate to achieve a given…
In this study, a single autonomous underwater vehicle (AUV) aims to rendezvous with a submerged leader recovery vehicle through a cluttered and variable operating field. The rendezvous problem is transformed into a nonlinear optimal control…
This paper presents a novel information-based mission planner for a drone tasked to monitor a spatially distributed dynamical phenomenon. For the sake of simplicity, the area to be monitored is discretized. The insight behind the proposed…