相关论文: Collision Avoidance of Two Autonomous Quadcopters

We present a novel, decentralized collision avoidance algorithm for navigating a swarm of quadrotors in dense environments populated with static and dynamic obstacles. Our algorithm relies on the concept of Optimal Reciprocal…

With the number of small Unmanned Aircraft Systems (sUAS) in the national airspace projected to increase in the next few years, there is growing interest in a traffic management system capable of handling the demands of this aviation…

The main contribution of this paper is a methodology for multiple non-cooperating swarms of unmanned aerial vehicles to independently cover a common area. In contrast to previous research on coverage control involving more than one swarm,…

Semi-autonomous (SA) systems face the challenge of determining which source to prioritize for control, whether it's from the human operator or the autonomous controller, especially when they conflict with each other. While one may design an…

This paper develops and evaluates the performance of an allocation agent to be potentially integrated into the onboard Detect and Avoid (DAA) computer of an Unmanned Aircraft System (UAS). We consider a UAS that can be fully controlled by…

In this dissertation, we address a problem of safe and efficient intersection crossing traffic management of autonomous and connected ground traffic. Toward this objective, an algorithm that is called the Discrete-time occupancies…

In this article we propose a distributed collision avoidance scheme for multi-agent unmanned aerial vehicles(UAVs) based on nonlinear model predictive control (NMPC),where other agents in the system are considered as dynamic obstacles with…

Biological evidence shows that animals are capable of evading eminent collision without using depth information, relying solely on looming stimuli. In robotics, collision avoidance among uncooperative vehicles requires measurement of…

Swarms of autonomous agents are useful in many applications due to their ability to accomplish tasks in a decentralized manner, making them more robust to failures. Due to the difficulty in running experiments with large numbers of hardware…

Unmanned aerial vehicles (UAVs) as aerial base stations (BSs) are able to provide not only the communication service to ground users, but also the sensing functionality to localize targets of interests. In this paper, we consider an…

In recent years, many control problems of autonomous mobile robots have been developed. In particular, the robots are required to be safe; that is, they need to be controlled to avoid colliding with people or objects while traveling. In…

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…

Connected and Automated Vehicles (CAVs) offer a promising solution to the challenges of mixed traffic with both CAVs and Human-Driven Vehicles (HDVs). A significant hurdle in such scenarios is traffic oscillation, or the "stop-and-go"…

Considering personalized driving preferences, a new decision-making framework is developed using a differential game approach to resolve the driving conflicts of autonomous vehicles (AVs) at unsignalized intersections. To realize human-like…

The use of the unmanned aerial vehicle (UAV) has been foreseen as a promising technology for the next generation communication networks. Since there are no regulations for UAVs deployment yet, most likely they form a network in coexistence…

Connected and automated vehicles (CAVs) can alleviate traffic congestion, air pollution, and improve safety. In this paper, we provide a decentralized coordination framework for CAVs at a signal-free intersection to minimize travel time and…

We address the problem of optimally controlling Connected and Automated Vehicles (CAVs) arriving from four multi-lane roads at an intersection where they conflict in terms of safely crossing (including turns) with no collision. The…

Collision avoidance requires tradeoffs in planning time horizons. Depending on the planner, safety cannot always be guaranteed in uncertain environments given map updates. To mitigate situations where the planner leads the vehicle into a…

The utilisation of unmanned aerial vehicles has witnessed significant growth in real-world applications including surveillance tasks, military missions, and transportation deliveries. This letter investigates practical problems of formation…

As autonomous vehicles (AVs) inch closer to reality, a central requirement for acceptance will be earning the trust of humans in everyday driving situations. In particular, the interaction between AVs and pedestrians is of high importance,…