相关论文: Differential Evolution for Efficient AUV Path Plan…

This paper presents a novel Rapidly-exploring Adaptive Sampling Tree (RAST) algorithm for the adaptive sampling mission of a hybrid aerial underwater vehicle (HAUV) in an air-sea 3D environment. This algorithm innovatively combines the…

Underwater Unmanned Vehicles (UUVs) have to constantly compensate for the external disturbing forces acting on their body. Adaptive Control theory is commonly used there to grant the control law some flexibility in its response to process…

Unmanned aerial vehicles (UAVs) are envisioned to complement the 5G communication infrastructure in future smart cities. Hot spots easily appear in road intersections, where effective communication among vehicles is challenging. UAVs may…

The Internet of underwater things (IoUT) is envisioned to be an essential part of maritime activities. Given the IoUT devices' wide-area distribution and constrained transmit power, autonomous underwater vehicles (AUVs) have been widely…

The existing variants of the Differential Evolution (DE) algorithm come with certain limitations, such as poor local search and susceptibility to premature convergence. This study introduces Adaptive Differential Evolution with…

Traditionally, traffic incident management (TIM) programs coordinate the deployment of emergency resources to immediate incident requests without accommodating the interdependencies on incident evolutions in the environment. However,…

Autonomous underwater vehicles (AUVs) are valuable for ocean exploration due to their flexibility and ability to carry communication and detection units. Nevertheless, AUVs alone often face challenges in harsh and extreme sea conditions.…

Advances in Unmanned Aerial Vehicle (UAV) opens venues for application such as tunnel inspection. Owing to its versatility to fly inside the tunnels, it can quickly identify defects and potential problems related to safety. However, long…

Avoiding hybrid obstacles in unknown scenarios with an efficient flight strategy is a key challenge for unmanned aerial vehicle applications. In this paper, we introduce a more robust technique to distinguish and track dynamic obstacles…

Hybrid Unmanned Aerial Underwater Vehicles (HUAUVs) have emerged as platforms capable of operating in both aerial and underwater environments, enabling applications such as inspection, mapping, search, and rescue in challenging scenarios.…

Autonomous underwater vehicles (AUV) are commonly used in many underwater applications. Recently, the usage of multi-rotor unmanned autonomous vehicles (UAV) for marine applications is receiving more attention in the literature. Usually,…

We address the problem of reactive motion planning for quadrotors operating in unknown environments with dynamic obstacles. Our approach leverages a 4-dimensional spatio-temporal planner, integrated with vision-based Safe Flight Corridor…

The trajectory planning problem for a swarm of multiple UAVs is known as a challenging nonconvex optimization problem, particularly due to a large number of collision avoidance constraints required for individual pairs of UAVs in the swarm.…

Unmanned Aerial Vehicles (UAVs) have attracted great interest in the last few years owing to their ability to cover large areas and access difficult and hazardous target zones, which is not the case of traditional systems relying on direct…

In this article we propose a reactive constrained navigation scheme, with embedded obstacles avoidance for an Unmanned Aerial Vehicle (UAV), for enabling navigation in obstacle-dense environments. The proposed navigation architecture is…

For high level path planning, environments are usually modeled as distance graphs, and path planning problems are reduced to computing the shortest path in distance graphs. One major drawback of this modeling is the inability to model…

Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant…

Autonomous underwater vehicles (AUVs) are sophisticated robotic platforms crucial for a wide range of applications. The accuracy of AUV navigation systems is critical to their success. Inertial sensors and Doppler velocity logs (DVL) fusion…

The worldwide economy and environmental sustainability depend on eff icient and reliable supply chains, in which container shipping plays a crucial role as an environmentally friendly mode of transport. Liner shipping companies seek to…

This paper presents a two-stage trajectory planning framework for a multi-UAV rigid-payload cascaded transportation system, aiming to address planning challenges in densely cluttered environments. In Stage I, an Enhanced Tube-RRT* algorithm…