相关论文: Vector Field Guidance for Convoy Monitoring Using …

We propose a novel scheme for surveillance of a dynamic ground convoy moving along a non-linear trajectory, by aerial agents that maintain a uniformly spaced formation on a time-varying elliptical orbit encompassing the convoy. Elliptical…

This paper presents a decentralized, collision-free framework for path following guidance of multiple uncrewed aerial vehicles (UAVs), while maintaining uniform spacing along a reference path. A vector field-based guidance law is employed…

This paper presents an algorithm for local motion planning in environments populated by moving elliptical obstacles whose velocity, shape and size are fully known but may change with time. We base the algorithm on a collision avoidance…

Reference path following is a key component in the functioning of almost all engineered autonomous agents. Among several path following guidance methods in existing literature, vector-field-based guidance approach has got wide attention…

In this paper, we present a novel vision-based framework for tracking dynamic objects using guidance laws based on a rendezvous cone approach. These guidance laws enable an unmanned aircraft system equipped with a monocular camera to…

This paper presents a new collision avoidance procedure for unmanned aerial vehicles in the presence of static and moving obstacles. The proposed procedure is based on a new form of local parametrized guidance vector fields, called…

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…

Many robotic systems allow independent control of position and orientation (pose), including omnidirectional aerial vehicles, underwater robots, and manipulator end-effectors. In many applications, these systems must follow a continuous…

In this work, a new non-stationary multiple point geostatistical algorithm called vector field-based simulation is proposed. The motivation behind this work is the modeling of a certain structures that exhibit directional features with…

Anticipating the motion of other road users is crucial for automated driving systems (ADS), as it enables safe and informed downstream decision-making and motion planning. Unfortunately, contemporary learning-based approaches for motion…

This note proposes a general control approach, called vector-field guided constraint-following control, to solve the dynamics control problem of geometric path-following for a class of uncertain mechanical systems. More specifically, it…

As mobile devices with positioning capabilities continue to proliferate, data management for so-called trajectory databases that capture the historical movements of populations of moving objects becomes important. This paper considers the…

Trajectory planning involves generating a series of space points to be followed in the near future. However, due to the complex and uncertain nature of the driving environment, it is impractical for autonomous vehicles~(AVs) to exhaustively…

This article presents a Visual Servoing Nonlinear Model Predictive Control (NMPC) scheme for autonomously tracking a moving target using multirotor Unmanned Aerial Vehicles (UAVs). The scheme is developed for surveillance and tracking of…

It is essential in many applications to impose a scalable coordinated motion control on a large group of mobile robots, which is efficient in tasks requiring repetitive execution, such as environmental monitoring. In this paper, we design a…

We propose coordinating guiding vector fields to achieve two tasks simultaneously with a team of robots: first, the guidance and navigation of multiple robots to possibly different paths or surfaces typically embedded in 2D or 3D; second,…

Accurately following a geometric desired path in a two-dimensional space is a fundamental task for many engineering systems, in particular mobile robots. When the desired path is occluded by obstacles, it is necessary and crucial to…

Automated visual inspection of on-and offshore wind turbines using aerial robots provides several benefits, namely, a safe working environment by circumventing the need for workers to be suspended high above the ground, reduced inspection…

In this paper we propose an algorithm for path following control of the nonholonomic mobile robot based on the idea of the guiding vector field (GVF). The desired path may be an arbitrary smooth curve in its implicit form, that is, a level…

This paper presents an algorithm for solving the problem of tracking smooth curves by a fixed wing unmanned aerial vehicle travelling with a constant airspeed and under a constant wind disturbance. The algorithm is based on the idea of…