相关论文: Optimal Trajectory-Planning of UAVs via B-Splines …

This paper addresses a UAV path planning task that seeks to observe a set of objects while satisfying the observation quality constraint. A dynamic programming algorithm is proposed that enables the UAV to observe the target objects with…

This paper investigates the problem of computing a two-dimensional optimal curvature straight line (CS) shortest path for an unmanned aerial vehicle (UAV) to intercept a moving target, with both the UAV (pursuer) and target travelling at…

Search-based motion planning algorithms have been widely utilized for unmanned aerial vehicles (UAVs). However, deploying these algorithms on real UAVs faces challenges due to limited onboard computational resources. The algorithms struggle…

In this article we present a unified framework based on receding horizon techniques that can be used to design the three tasks (guidance, navigation and path-planning) which are involved in the autonomy of unmanned vehicles. This tasks are…

The main contribution of this paper is a novel method for planning globally optimal trajectories for dynamical systems subject to polygonal constraints. The proposed method is a hybrid trajectory planning approach, which combines graph…

Unmanned aerial vehicles (UAVs) have attracted significant interest recently in assisting wireless communication due to their high maneuverability, flexible deployment, and low cost. This paper considers a multi-UAV enabled wireless…

For accomplishing a variety of missions in challenging environments, the capability of navigating with full autonomy while avoiding unexpected obstacles is the most crucial requirement for UAVs in real applications. In this paper, we…

Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…

In this paper we provide an optimal control based strategy to explore feasible trajectories of nonlinear systems, that is to find curves that satisfy the dynamics as well as point-wise state-input constraints. The strategy is interesting…

We consider the problem of optimizing the trajectory of an Unmanned Aerial Vehicle (UAV). Assuming a traffic intensity map of users to be served, the UAV must travel from a given initial location to a final position within a given duration…

This work describes the orchestration of a fleet of rotary-wing Unmanned Aerial Vehicles (UAVs) for harvesting prioritized traffic from random distributions of heterogeneous users with Multiple Input Multiple Output (MIMO) capabilities. In…

In this paper, we propose a robust and efficient quadrotor motion planning system for fast flight in 3-D complex environments. We adopt a kinodynamic path searching method to find a safe, kinodynamic feasible and minimum-time initial…

This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid…

Unmanned aerial vehicles (UAVs) have gained popularity due to their flexible mobility, on-demand deployment, and the ability to establish high probability line-of-sight wireless communication. As a result, UAVs have been extensively used as…

This paper proposes a novel mission planning algorithm for autonomous robots that selects an optimal waypoint sequence from a predefined set to maximize total reward while satisfying obstacle avoidance, state, input, derivative, mission…

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…

This paper introduces a new path planning algorithm for unmanned aerial vehicles (UAVs) based on the teaching-learning-based optimization (TLBO) technique. We first define an objective function that incorporates requirements on the path…

Multiple unmanned aerial vehicles (UAVs) play a vital role in monitoring and data collection in wide area environments with harsh conditions. In most scenarios, issues such as real-time data retrieval and real-time UAV positioning are often…

We consider the problem of designing a smooth trajectory that traverses a sequence of convex sets in minimum time, while satisfying given velocity and acceleration constraints. This problem is naturally formulated as a nonconvex program. To…

Cutting plane methods, particularly outer approximation, are a well-established approach for solving nonlinear discrete optimization problems without relaxing the integrality of decision variables. While powerful in theory, their…