相关论文: Reactive Trajectory Generation for Multiple Vehicl…

Real-world environments are inherently uncertain, and to operate safely in these environments robots must be able to plan around this uncertainty. In the context of motion planning, we desire systems that can maintain an acceptable level of…

Navigation of mobile robots within crowded environments is an essential task in various use cases, such as delivery, health care, or logistics. Deep Reinforcement Learning (DRL) emerged as an alternative method to replace overly…

Safe, socially compliant, and efficient navigation of low-speed autonomous vehicles (AVs) in pedestrian-rich environments necessitates considering pedestrians' future positions and interactions with the vehicle and others. Despite the…

Future urban transportation concepts include a mixture of ground and air vehicles with varying degrees of autonomy in a congested environment. In such dynamic environments, occupancy maps alone are not sufficient for safe path planning.…

Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…

Unmanned aerial vehicles (UAVs) have been attracting significant attention because there is a high probability of line-of-sight links being obtained between them and terrestrial nodes in high-rise urban areas. In this work, we investigate…

The rapid development of robotics has benefited by more and more people putting their attention to it. With the demand for robots is growing for the purpose of fulfilling tasks instead of humans, how to control the robot better is becoming…

Unmanned Aerial Vehicles need an online path planning capability to move in high-risk missions in unknown and complex environments to complete them safely. However, many algorithms reported in the literature may not return reliable…

This paper presents real-time guidance strategies for unmanned aerial vehicles (UAVs) that can be used to enhance their flight endurance by utilizing {\sl insitu} measurements of wind speeds and wind gradients. In these strategies, periodic…

Suitably equipped with cameras and sensors, uncrewed aerial vehicles (UAVs) can be instrumental for wildfire prediction, tracking, and monitoring, provided that uninterrupted connectivity can be guaranteed even if some of the ground access…

Unmanned aerial vehicles (UAVs) have become important in many applications including last-mile deliveries, surveillance and monitoring, and wireless networks. This paper aims to design UAV trajectories that simultaneously perform multiple…

In this paper, we consider the problem of using a robot to explore an environment with an unknown, state-dependent disturbance function while avoiding some forbidden areas. The goal of the robot is to safely collect observations of the…

Unmanned aerial vehicles (UAVs), especially fixed-wing ones that withstand strong winds, have great potential for oceanic exploration and research. This paper studies a UAV-aided maritime data collection system with a fixed-wing UAV…

Predicting the motion of a driver's vehicle is crucial for advanced driving systems, enabling detection of potential risks towards shared control between the driver and automation systems. In this paper, we propose a variational neural…

Trajectory planning is challenging for autonomous cars since they operate in unpredictable environments with limited sensor horizons. To incorporate new information as it is sensed, planning is done in a loop, with the next plan being…

With the number of small Unmanned Aircraft Systems (sUAS) in the national airspace projected to increase in the next few years, there is growing interest in a traffic management system capable of handling the demands of this aviation…

This paper presents a continuous-time optimal control framework for the generation of reference trajectories in driving scenarios with uncertainty. A previous work presented a discrete-time stochastic generator for autonomous vehicles;…

Unmanned Aerial Vehicles (UAV) have been standing out due to the wide range of applications in which they can be used autonomously. However, they need intelligent systems capable of providing a greater understanding of what they perceive to…

A smart Unmanned Ground Vehicle (UGV) is designed and developed for some application specific missions to operate predominantly in hazardous environments. In our work, we have developed a small and lightweight vehicle to operate in general…

Differential Dynamic Programming is an optimal control technique often used for trajectory generation. Many variations of this algorithm have been developed in the literature, including algorithms for stochastic dynamics or state and input…