相关论文: Reactive Trajectory Generation for Multiple Vehicl…
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…
When deploying autonomous systems in unknown and changing environments, it is critical that their motion planning and control algorithms are computationally efficient and can be reapplied online in real time, whilst providing theoretical…
Using the context of trajectory estimation and tracking for multi-rotor unmanned aerial vehicles (UAVs), we explore the challenges in applying high-gain observers to highly dynamic systems. The multi-rotor will operate in the presence of…
We investigated different dense multirotor UAV traffic simulation scenarios in open 2D and 3D space, under realistic environments with the presence of sensor noise, communication delay, limited communication range, limited sensor update…
In this paper, we investigate resource allocation design for unmanned aerial vehicle (UAV)-enabled communication systems, where a UAV is dispatched to provide communications to multiple user nodes. Our objective is to maximize the…
We present a novel end-to-end diffusion-based trajectory generation method, DTG, for mapless global navigation in challenging outdoor scenarios with occlusions and unstructured off-road features like grass, buildings, bushes, etc. Given a…
This paper presents a two-layer control framework for Autonomous Underwater Vehicles (AUVs) designed to handle uncertain nonlinear dynamics, including the mass matrix, previously assumed known. Unlike prior studies, this approach makes the…
Convex free regions provide a structured and optimization-friendly representation of collision-free space for robot navigation in unknown and cluttered environments. However, existing methods typically enlarge local collision-free regions…
An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…
High-speed trajectory planning through unknown environments requires algorithmic techniques that enable fast reaction times while maintaining safety as new information about the operating environment is obtained. The requirement of…
As drones and autonomous cars become more widespread it is becoming increasingly important that robots can operate safely under realistic conditions. The noisy information fed into real systems means that robots must use estimates of the…
This work deals with a moving target chasing mission of an aerial vehicle equipped with a vision sensor in a cluttered environment. In contrast to obstacle-free or sparse environments, the chaser should be able to handle collision and…
Effective trajectory generation is essential for reliable on-board spacecraft autonomy. Among other approaches, learning-based warm-starting represents an appealing paradigm for solving the trajectory generation problem, effectively…
Recent advancements in self-driving car technologies have enabled them to navigate autonomously through various environments. However, one of the critical challenges in autonomous vehicle operation is trajectory planning, especially in…
We present a waypoint planning algorithm for an unmanned aerial vehicle (UAV) that is teamed with an unmanned ground vehicle (UGV) for the task of search and rescue in a subterranean environment. The UAV and UGV are teamed such that the…
Unmanned Aerial Vehicles (UAVs) are emerging as very important tools in search and rescue (SAR) missions at sea, enabling swift and efficient deployment for locating individuals or vessels in distress. The successful execution of these…
Unmanned aerial vehicles (UAVs) are expected to be an integral part of wireless networks, and determining collision-free trajectories for multiple UAVs while satisfying requirements of connectivity with ground base stations (GBSs) is a…
This research aims at developing path and motion planning algorithms for a tethered Unmanned Aerial Vehicle (UAV) to visually assist a teleoperated primary robot in unstructured or confined environments. The emerging state of the practice…
Post-disaster situations pose unique navigation challenges. One of those challenges is the unstructured nature of the environment, which makes it hard to layout paths for rescue vehicles. We propose the use of Uncrewed Aerial Vehicle (UAV)…
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…