相关论文: A Complexity Indicator for 4D Flight Trajectories …

Aerial robots are a well-established solution for exploration, monitoring, and inspection, thanks to their superior maneuverability and agility. However, in many environments, they risk crashing and sustaining damage after collisions.…

Swarms of Unmanned Aerial Vehicles (UAV) have demonstrated enormous potential in many industrial and commercial applications. However, before deploying UAVs in the real world, it is essential to ensure they can operate safely in complex…

We introduce a new measure of complexity (called spectral complexity) for directed graphs. We start with splitting of the directed graph into its recurrent and non-recurrent parts. We define the spectral complexity metric in terms of the…

Correlators between event planes of different harmonics in relativistic heavy-ion collisions have the potential to provide crucial information on the initial state of the matter formed in these collisions. We present a new procedure for…

Collision-tolerant trajectory planning is the consideration that collisions, if they are planned appropriately, enable more effective path planning for robots capable of handling them. A mixed integer programming (MIP) optimization…

This paper considers a two-dimensional persistent monitoring problem by controlling movements of second-order agents to minimize some uncertainty metric associated with targets in a dynamic environment. In contrast to common sensing models…

The analysis and quantification of sequence complexity is an open problem frequently encountered when defining trajectory prediction benchmarks. In order to enable a more informative assembly of a data basis, an approach for determining a…

Present air traffic complexity metrics are defined considering the interests of different management layers of ATM. These layers have different objectives which in practice compete to maximize their own goals, which leads to fragmented…

Drones equipped with cameras are emerging as a powerful tool for large-scale aerial 3D scanning, but existing automatic flight planners do not exploit all available information about the scene, and can therefore produce inaccurate and…

In this paper we propose a computational design tool that al-lows end-users to create advanced quadrotor trajectories witha variety of application scenarios in mind. Our algorithm al-lows novice users to create quadrotor based use-cases…

Motion planning is a difficult problem in robot control. The complexity of the problem is directly related to the dimension of the robot's configuration space. While in many theoretical calculations and practical applications the…

This work introduces a formulation of model predictive control (MPC) which adaptively reasons about the complexity of the model based on the task while maintaining feasibility and stability guarantees. Existing MPC implementations often…

In traffic management, it is a very important issue to shorten the response time by detecting the incidents (accident, vehicle breakdown, an object falling on the road, etc.) and informing the corresponding personnel. In this study, an…

This paper focuses on robustness to disturbance forces and uncertain payloads. We present a novel formulation to optimize the robustness of dynamic trajectories. A straightforward transcription of this formulation into a nonlinear…

With the increasing integration of robots into human life, their role in architectural spaces where people spend most of their time has become more prominent. While motion capabilities and accurate localization for automated robots have…

The deployment flexibility and maneuverability of Unmanned Aerial Vehicles (UAVs) increased their adoption in various applications, such as wildfire tracking, border monitoring, etc. In many critical applications, UAVs capture images and…

A point visibility graph is a graph induced by a set of points in the plane where the vertices of the graph represent the points in the point set and two vertices are adjacent if and only if no other point from the point set lies on the…

One of the most relevant tasks in an intelligent vehicle navigation system is the detection of obstacles. It is important that a visual perception system for navigation purposes identifies obstacles, and it is also important that this…

Agile quadrotor flight relies on rapidly planning and accurately tracking time-optimal trajectories, a technology critical to their application in the wild. However, the computational burden of computing time-optimal trajectories based on…

With the rapid development of civil aviation and the significant improvement of people's living standards, taking an air plane has become a common and efficient way of travel. However, due to the flight characteris-tics of the aircraft and…