相关论文: AUV Rendezvous Online Path Planning in a Highly Cl…
This letter addresses the problem of trajectory planning in a marsupial robotic system consisting of an unmanned aerial vehicle (UAV) linked to an unmanned ground vehicle (UGV) through a non-taut tether withcontrollable length. To the best…
This paper investigates the three-dimensional (3D) deployment of uncrewed aerial vehicles (UAVs) as aerial base stations in heterogeneous communication networks under constraints imposed by diverse ground obstacles. Given the diverse data…
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…
Approaching a tumbling target safely is a critical challenge in space debris removal missions utilizing robotic manipulators onboard servicing satellites. In this work, we propose a trajectory planning method based on nonlinear optimization…
This paper presents a novel and feasible path planning technique for a group of unmanned aerial vehicles (UAVs) conducting surface inspection of infrastructure. The ultimate goal is to minimise the travel distance of UAVs while…
The paper presents a movement strategy for Connected and Automated Vehicles (CAVs) in a lane-free traffic environment with vehicle nudging by use of an optimal control approach. State-dependent constraints on control inputs are considered…
Autonomous exploration is one of the important parts to achieve the autonomous operation of Unmanned Aerial Vehicles (UAVs). To improve the efficiency of the exploration process, a fast and autonomous exploration planner (FAEP) is proposed…
This paper addresses the challenge of navigating unmanned aerial vehicles in contested environments by introducing a cooperative multi-agent framework that increases the likelihood of safe UAV traversal. The approach involves two types of…
We develop a probabilistic framework for \emph{rendezvous planning}: given sparse, noisy observations of a fast-moving target, plan rendezvous spatiotemporal coordinates for a set of significantly slower seeking agents. The unknown target…
This paper designs a novel trajectory planning approach to resolve the computational efficiency and safety problems in uncoordinated methods by exploiting vehicle-to-everything (V2X) technology. The trajectory planning for connected and…
This work addresses the problem of coupling vision-based navigation systems for Unmanned Aerial Vehicles (UAVs) with robust obstacle avoidance capabilities. The former problem is solved by maximizing the visibility of the points of…
In this paper, we propose a framework for fast trajectory planning for unmanned aerial vehicles (UAVs). Our framework is reformulated from an existing bilevel optimization, in which the lower-level problem solves for the optimal trajectory…
Safe autonomous navigation is an essential and challenging problem for robots operating in highly unstructured or completely unknown environments. Under these conditions, not only robotic systems must deal with limited localisation…
The paper represents an algorithm for planning safe and optimal routes for transport facilities with unrestricted movement direction that travel within areas with obstacles. Paper explains the algorithm using a ship as an example of such a…
Platooning connected and autonomous vehicles (CAVs) can improve traffic and fuel efficiency. However, scalable platooning operations require junction-level coordination, which has not been well studied. In this paper, we study the…
Autonomous Underwater vehicles must operate in strong currents, limited acoustic bandwidth, and persistent sensing requirements where conventional swarm optimisation methods are unreliable. This paper formulates an irreversible hydrodynamic…
Today AUVs operation still remains restricted to very particular tasks with low real autonomy due to battery restrictions. Efficient motion planning and mission scheduling are principle requirement toward advance autonomy and facilitate the…
Reasons for mapping an unknown environment with autonomous robots are wide-ranging, but in practice, they are often overlooked when developing planning strategies. Rapid information gathering and comprehensive structural assessment of…
On-line motion planning in unknown environments is a challenging problem as it requires (i) ensuring collision avoidance and (ii) minimizing the motion time, while continuously predicting where to go next. Previous approaches to on-line…
Motion planning is a critical component of intelligent unmanned systems, enabling their complex autonomous operations. However, current planning algorithms still face limitations in planning efficiency due to inflexible strategies and weak…