相关论文: Coordinated Complexity-Aware 4D Trajectory Plannin…
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…
As Urban air mobility scales, commercial drone fleets offer a compelling, yet underexplored opportunity to function as mobile sensor networks for real-time urban traffic monitoring. In this paper, we propose a decentralized framework that…
The enabling of safe cellular controlled unmanned aerial vehicle (UAV) beyond visual line of sight is expected to open important future opportunities in the area of transportation, goods delivery, and system monitoring. A key challenge in…
In this paper, we give a double twist to the problem of planning under uncertainty. State-of-the-art planners seek to minimize the localization uncertainty by only considering the geometric structure of the scene. In this paper, we argue…
This work describes the orchestration of a fleet of rotary-wing Unmanned Aerial Vehicles (UAVs) for harvesting prioritized traffic from random distributions of heterogeneous users with Multiple Input Multiple Output (MIMO) capabilities. In…
Efficient real-time trajectory planning and control for fixed-wing unmanned aerial vehicles is challenging due to their non-holonomic nature, complex dynamics, and the additional uncertainties introduced by unknown aerodynamic effects. In…
This paper presents a method for online trajectory planning in known environments. The proposed algorithm is a fusion of sampling-based techniques and model-based optimization via quadratic programming. The former is used to efficiently…
We present an adaptive control scheme to enable the emergence of order within distributed, autonomous multi-agent systems. Past studies showed that under high-density conditions, order generated from traffic-following behavior reduces…
The problem of maximizing the probability of two trucks being coordinated to merge into a platoon on a highway is considered. Truck platooning is a promising technology that allows heavy vehicles to save fuel by driving with small…
Multiple fixed-wing unmanned aerial vehicles (multi-UAVs) encounter significant challenges in cooperative path following over complex Digital Elevation Model (DEM) low-altitude airspace, including wind field disturbances, sudden obstacles,…
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…
An effective method for optimizing path planning for a specific model of a 6-degree-of-freedom (6-DOF) robot manipulator is presented as part of the motion planning of the manipulator using computer algebra. We assume that we are given a…
Most commercially available fixed-wing aerial vehicles (FWV) can carry only small, lightweight computing hardware such as Jetson TX2 onboard. Solving non-linear trajectory optimization on these computing resources is computationally…
For multi-vehicle complex traffic scenarios in shared spaces such as intelligent intersections, safe coordination and trajectory planning is challenging due to computational complexity. To meet this challenge, we introduce a computationally…
This work proposes a jointly optimized trajectory generation and camera control approach, enabling an autonomous agent, such as an unmanned aerial vehicle (UAV) operating in 3D environments, to plan and execute coverage trajectories that…
This paper studies the problem of scheduling urban air mobility trips when travel times are uncertain and capacity at destinations is limited. Urban air mobility, in which air transportation is used for relatively short trips within a city…
Obstacle avoidance path planning for uncrewed aerial vehicles (UAVs), or drones, is rarely addressed in most flight path planning schemes, despite obstacles being a realistic condition. Obstacle avoidance can also be energy-intensive,…
This paper systematically studies the cooperative area coverage and target tracking problem of multiple-unmanned aerial vehicles (multi-UAVs). The problem is solved by decomposing into three sub-problems: information fusion, task…
In this work, we specialize contributions from prior work on data-driven trajectory generation for a quadrotor system with motor saturation constraints. When motors saturate in quadrotor systems, there is an ``uncontrolled drift" of the…
Within this paper, the problem of 3D structural inspection path planning for distributed infrastructure using aerial robots that are subject to time constraints is addressed. The proposed algorithm handles varying spatial properties of the…