相关论文: A Harmonic Potential Approach For Simultaneous Pla…

In this article, we present a centralized approach for the control of multiple unmanned aerial vehicles (UAVs) for landing on moving unmanned ground vehicles (UGVs) using control barrier functions (CBFs). The proposed control framework…

Current motion planning approaches for autonomous mobile robots often assume that the low level controller of the system is able to track the planned motion with very high accuracy. In practice, however, tracking error can be affected by…

We propose a high-level planner for a multirotor to chase a ground vehicle, while simultaneously respecting various state and input constraints. Assuming a minimal kinematic model for the ground vehicle, we use data collected online to…

In obstacle-dense scenarios, providing safe guidance for mobile robots is critical to improve the safe maneuvering capability. However, the guidance provided by standard guiding vector fields (GVFs) may limit the motion capability due to…

The rapid development of Unmanned aerial vehicles (UAVs) technology has spawned a wide variety of applications, such as emergency communications, regional surveillance, and disaster relief. Due to their limited battery capacity and…

This paper presents a novel feedback method on the motion planning for unicycle robots in environments with static obstacles, along with an extension to the distributed planning and coordination in multi-robot systems. The method employs a…

Probabilistic Virtual Fixtures (VFs) enable the adaptive selection of the most suitable haptic feedback for each phase of a task, based on learned or perceived uncertainty. While keeping the human in the loop remains essential, for…

Connected and automated vehicles (CAVs) provide the most intriguing opportunity for enabling users to monitor transportation network conditions and make better decisions for improving safety and transportation efficiency. In this paper, we…

We present a hierarchical control approach for maneuvering an autonomous vehicle (AV) in tightly-constrained environments where other moving AVs and/or human driven vehicles are present. A two-level hierarchy is proposed: a high-level…

This paper tackles the challenge of learning a generalizable minimum-time flight policy for UAVs, capable of navigating between arbitrary start and goal states while balancing agile flight and stable hovering. Traditional approaches,…

Connected and automated vehicles (CAVs) provide the most intriguing opportunity for enabling users to better monitor transportation network conditions and make better operating decisions to improve safety and reduce pollution, energy…

Marine waves significantly disturb the unmanned surface vehicle (USV) motion. An unmanned aerial vehicle (UAV) can hardly land on a USV that undergoes irregular motion. An oversized landing platform is usually necessary to guarantee the…

Hybrid fuel Unmanned Aerial Vehicles (UAV), through their combination of multiple energy sources, offer several advantages over the standard single fuel source configuration, the primary one being increased range and efficiency. Multiple…

In this paper, we investigate an unmanned aerial vehicle (UAV)-assistant air-to-ground communication system, where multiple UAVs form a UAV-enabled virtual antenna array (UVAA) to communicate with remote base stations by utilizing…

Trajectory planning is a critical component in ensuring the safety, stability, and efficiency of autonomous vehicles. While existing trajectory planning methods have achieved progress, they often suffer from high computational costs,…

A novel prize-winner algorithm designed for a path following problem within the Unmanned Aerial Vehicle (UAV) field is presented in this paper. The proposed approach exploits the advantages offered by the pure pursuing algorithm to set up…

This paper presents a novel hybrid motion planning method for holonomic multi-agent systems. The proposed decentralised model predictive control (MPC) framework tackles the intractability of classical centralised MPC for a growing number of…

Package delivery via the UAVs is a promising transport mode to provide efficient and green logistic services, especially in urban areas or complicated topography. However, the energy storage limit of the UAV makes it difficult to perform…

We present an efficient path planning algorithm for an Unmanned Aerial Vehicle surveying a cluttered urban landscape. A special emphasis is on maximizing area surveyed while adhering to constraints of the UAV and partially known and…

This paper focuses on the control of a cooperative system composed of an Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV) manipulating an object. The two units are subject to input saturations and collaborate to move the…