相关论文: Minimum-time trajectory generation for quadrotors …

In this paper, we propose a new method for path planning to a point for robot in environment with obstacles. The resulting algorithm is implemented as a simple variation of Dijkstra's algorithm. By adding a constraint to the shortest-path,…

It is ubiquitously accepted that during the autonomous navigation of the quadrotors, one of the most widely adopted unmanned aerial vehicles (UAVs), safety always has the highest priority. However, it is observed that the ego airflow…

Solving optimal control problems (OCPs) of autonomous agents operating under spatial and temporal constraints fast and accurately is essential in applications ranging from eco-driving of autonomous vehicles to quadrotor navigation. However,…

Autonomous quadrotor flight in confined spaces such as pipes and tunnels presents significant challenges due to unsteady, self-induced aerodynamic disturbances. Very recent advances have enabled flight in such conditions, but they either…

We propose a sampling-based trajectory optimization methodology for constrained problems. We extend recent works on stochastic search to deal with box control constraints,as well as nonlinear state constraints for discrete dynamical…

This paper presents a spatial-based trajectory planning method for automated vehicles under actuator, obstacle avoidance, and vehicle dimension constraints. Starting from a nonlinear kinematic bicycle model, vehicle dynamics are transformed…

Motion trajectory planning is one crucial aspect for automated vehicles, as it governs the own future behavior in a dynamically changing environment. A good utilization of a vehicle's characteristics requires the consideration of the…

Quadrotors with large thrust-to-weight ratios are able to track aggressive trajectories with sharp turns and high accelerations. In this work, we develop a search-based trajectory planning approach that exploits the quadrotor…

MPC (Model predictive control)-based motion planning and trajectory generation are essential in applications such as unmanned aerial vehicles, robotic manipulators, and rocket control. However, the real-time implementation of such…

This paper presents a modeling and optimization framework to compute the minimum-lap-time spatial trajectory and powertrain operation of racing cars in a computationally efficient fashion. Specifically, we first derive a quasi-steady-state…

In this article, a novel combined aerial cooperative tethered carrying and path planning framework is introduced with a special focus on applications in confined environments. The proposed work is aiming towards solving the path planning…

This paper presents a numerical optimization algorithm for generating approach and landing trajectories for a six-degree-of-freedom (6-DoF) aircraft. We improve on the existing research on aircraft landing trajectory generation by…

In this paper, we propose a new method for multirotor planning in dynamic environments. The environment is represented as a temporal occupancy grid which gives the current as well as the future/predicted state of all the obstacles. The…

We consider trajectory optimal control problems in which parameter uncertainty limits the applicability of control trajectories computed prior to travel. Hence, efficient trajectory adjustment is needed to ensure successful travel. However,…

In this paper, we propose a trajectory optimization for computing smooth collision free trajectories for nonholonomic curvature bounded vehicles among static and dynamic obstacles. One of the key novelties of our formulation is a hierarchal…

As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…

In the racetrack acceleration model, proposed by Martin Gardner in 1973, each step consists of changing the position of the vehicle by a vector in $\mathbb{Z}^2$, with the constraints that two consecutive vectors differ by at most one unit…

Ground robots navigating in complex, dynamic environments must compute collision-free trajectories to avoid obstacles safely and efficiently. Nonconvex optimization is a popular method to compute a trajectory in real-time. However, these…

This paper presents a numerical algorithm for computing 6-degree-of-freedom free-final-time powered descent guidance trajectories. The trajectory generation problem is formulated using a unit dual quaternion representation of the rigid body…

In this paper, we present a real-time approach to local trajectory replanning for microaerial vehicles (MAVs). Current trajectory generation methods for multicopters achieve high success rates in cluttered environments, but assume that the…