相关论文: Optimal Target Intercept Paths for Vehicles with T…

This article studies the time-optimal path planning problem for a convexified Reeds-Shepp (CRS) vehicle on a unit sphere, capable of both forward and backward motion, with speed bounded in magnitude by 1 and turning rate bounded in…

This paper addresses the three-dimensional path-following guidance problem for unmanned aerial vehicles under explicit actuator constraints. Unlike conventional approaches that assume unbounded control inputs or handle saturation…

A turn-constrained evader strives to escape a circular region in minimum time.

We consider the problem of finding an optimal piecewise linear path (polygonal line) connecting two given points with the possibility of making n turns at some points (the absolute value of each turn angle does not exceed a prescribed…

A new path planning method for Mobile Robots (MR) has been developed and implemented. On the one hand, based on the shortest path from the start point to the goal point, this path planner can choose the best moving directions of the MR,…

The kinematic approximation of Dubin's Vehicle has been largely exploited in the formulation of various motion planning methods. In the majority of these methods, planning and control phases are decoupled, and the burden of rejecting…

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…

In this paper, we formulate a virtual target-based path following guidance law aimed towards multi-vehicle path following problem. The guidance law is well suited to precisely follow circular paths while minting desired distance between two…

The specific objective of this paper is to develop a tool that calculates the optimal trajectory of the follower aircraft as it completes a formation rejoin, and then maintains the formation position, defined as a ring of points, until a…

This work aims to design an optimization-based controller for a discrete-time Dubins vehicle to approach a target with unknown position as fast as possible by only using bearing measurements. To this end, we propose a bi-objective…

We solve an open problem posed by Michael Biro at CCCG 2013 that was inspired by his and others' work on beacon-based routing. Consider a human and a puppy on a simple closed curve in the plane. The human can walk along the curve at bounded…

Approximate dynamic programming has been investigated and used as a method to approximately solve optimal regulation problems. However, the extension of this technique to optimal tracking problems for continuous time nonlinear systems has…

We consider a variant of the target defense problem where a single defender is tasked to capture a sequence of incoming intruders. Both the defender and the intruders have non-holonomic dynamics. The intruders' objective is to breach the…

We consider a problem of cooperative evasion between a single pursuer and multiple evaders in which the evaders are constrained to move in the positive Y direction. The evaders are slower than the vehicle and can choose their speeds from a…

In this paper, we study the trajectory optimization of a cellular-connected unmanned aerial vehicle (UAV) which aims to sense the location of a target while maintaining satisfactory communication quality with the ground base stations…

This paper addresses the time-constrained interception of targets at a predetermined time with bounded field-of-view capability of the seeker-equipped interceptors. We propose guidance laws using the effective lead angle and velocity lead…

We introduce a problem in which a service vehicle seeks to guard a deadline (boundary) from dynamically arriving mobile targets. The environment is a rectangle and the deadline is one of its edges. Targets arrive continuously over time on…

The use of visual sensors is flourishing, driven among others by the several applications in detection and prevention of crimes or dangerous events. While the problem of optimal camera placement for total coverage has been solved for a…

This work presents proximally optimal predictive control algorithm, which is essentially a model-based lateral controller for steered autonomous vehicles that selects an optimal steering command within the neighborhood of previous steering…

This paper introduces an exact algorithm for the construction of a shortest curvature-constrained network interconnecting a given set of directed points in the plane and an iterative method for doing so in 3D space. Such a network will be…