相关论文: Optimal Target Intercept Paths for Vehicles with T…
Path planning is crucial for the efficient operation of Autonomous Mobile Robots (AMRs) in factory environments. Many existing algorithms rely on Dubins paths, which have been adapted for various applications. However, an efficient method…
This paper is concerned with finding an optimal path for an observer, or sensor, moving at a constant speed, which is to estimate the position of a stationary target, using only bearing angle measurements. The generated path is optimal in…
This article proposes the first known algorithm that achieves a constant-factor approximation of the minimum length tour for a Dubins' vehicle through $n$ points on the plane. By Dubins' vehicle, we mean a vehicle constrained to move at…
We consider the problem of a particle traveling from an initial configuration to a final configuration (given by a point in the plane along with a prescribed velocity vector) in minimum time with non-homogeneous velocity and with…
This paper addresses path planning of an unmanned aerial vehicle (UAV) with remote sensing capabilities (or wireless communication capabilities). The goal of the path planning is to find a minimum-flight-time closed tour of the UAV visiting…
When designing path tracking controllers for car-like vehicles, two main aspects are the tracking performance and the characteristics of the actuation signal. Our work bases on an existing variable structure controller that was designed…
This paper investigates the pursuit-evasion problem of a defensive gun turret and one or more attacking drones. The turret must ``visit" each attacking drone once, as quickly as possible, to defeat the threat. This constitutes a Shortest…
Precise motion control of underactuated surface vessels is a crucial task in various maritime applications. In this work, we develop a nonlinear motion control strategy for surface vessels inspired by the pursuit guidance philosophy. Any…
This paper proposes a fast and accurate trajectory planning algorithm for autonomous parking. Nominally, an optimal control problem should be formulated to describe this scheme, but the dimensionality of the optimal control problem is…
This paper presents the reachability analysis of curves in $\mathbb{R}^3$ with a prescribed curvature bound. Based on Pontryagin Maximum Principle, we leverage the existing knowledge on the structure of solutions to minimum-time problems,…
Dubins tours represent a solution of the Dubins Traveling Salesman Problem (DTSP) that is a variant of the optimization routing problem to determine a curvature-constrained shortest path to visit a set of locations such that the path is…
We present a guidance by repulsion model based on a driver-evader interaction where the driver, assumed to be faster than the evader, follows the evader but cannot be arbitrarily close to it, and the evader tries to move away from the…
The problem of constrained coverage path planning involves a robot trying to cover maximum area of an environment under some constraints that appear as obstacles in the map. Out of the several coverage path planning methods, we consider…
We present a trajectory generation framework for control of wheeled vehicles under steering actuator constraints. The motivation is smooth autonomous driving of heavy vehicles. The key idea is to take into account rate, and additionally,…
Many real-world systems often involve physical components or operating environments with highly nonlinear and uncertain dynamics. A number of different control algorithms can be used to design optimal controllers for such systems, assuming…
Online approximation of an infinite horizon optimal path-following strategy for a kinematic unicycle is considered. The solution to the optimal control problem is approximated using an approximate dynamic programming technique that uses…
This paper presents a framework for stabilizing the Dubins vehicle model to zero in finite time (deadbeat parking) by interpreting distance as a time-like variable. We develop control laws that bring the system to a desired position and…
In this paper, we introduce a trajectory planning problem for a marsupial robotics system consisting of a ground robot, a drone, and a taut tether of bounded length connecting the two robots. This problem can be framed within the context of…
We address optimal placement of vehicles with simple motion to intercept a mobile target that arrives stochastically on a line segment. The optimality of vehicle placement is measured through a cost function associated with intercepting the…
We propose a continuous feedback control strategy that steers a point-mass vehicle safely to a destination, in a quasi-optimal manner, in sphere worlds. The main idea consists in avoiding each obstacle via the shortest path on the cone's…