相关论文: Motion Planning for a UAV with a Straight or Kinke…

This paper proposes a systematic solution that uses an unmanned aerial vehicle (UAV) to aggressively and safely track an agile target. The solution properly handles the challenging situations where the intent of the target and the dense…

We devise a cooperative planning framework to generate optimal trajectories for a tethered robot duo, who is tasked to gather scattered objects spread in a large area using a flexible net. Specifically, the proposed planning framework first…

This paper deals with the dynamics and controls of a quadrotor unmanned aerial vehicle that is connected to a fixed point on the ground via a tether. Tethered quadrotors have been envisaged for long-term aerial surveillance with high-speed…

One of the main challenges slowing the deployment of airborne base stations (BSs) using unmanned aerial vehicles (UAVs) is the limited on-board energy and flight time. One potential solution to such problem, is to provide the UAV with power…

Tendon-driven continuum robots (TDCRs), with their flexible backbones, offer the advantage of being used for navigating complex, cluttered environments. However, to do so, they typically require multiple segments, often leading to complex…

This paper develops an autonomous tethered aerial visual assistant for robot operations in unstructured or confined environments. Robotic tele-operation in remote environments is difficult due to lack of sufficient situational awareness,…

Despite the attention that the problem of path planning for tethered robots has garnered in the past few decades, the approaches proposed to solve it typically rely on a discrete representation of the configuration space and do not exploit…

Unmanned aerial vehicle (UAV) assisted cellular communication is gaining significant interest recently. Although it offers several advantages over terrestrial communication, UAV communication suffers from two main shortcomings. The typical…

One of the main limitations of multirotor UAVs is their short flight time due to battery constraints. A practical solution for continuous operation is to power the drone from the ground via a tether. While this approach has been…

This paper presents a novel trajectory planning method for aerial perching. Compared with the existing work, the terminal states and the trajectory durations can be adjusted adaptively, instead of being determined in advance. Furthermore,…

Path planning for multiple tethered robots is a challenging problem due to the complex interactions among the cables and the possibility of severe entanglements. Previous works on this problem either consider idealistic cable models or…

This paper aims to enhance the physical layer security against potential internal eavesdroppings by exploiting the maneuverability of an unmanned aerial vehicle (UAV). We consider a scenario where two receivers with different security…

In this article we consider the problem of tether entanglement for tethered mobile robots. One of the main risks of using a tethered connection between a mobile robot and an anchor point is that the tether may get entangled with the…

Due to their energy-efficient flight characteristics, fixed-wing type UAVs are useful robotic tools for long-range and duration flight applications in large-scale environments. However, flying fixed-wing UAV in confined environments, such…

This paper studies the improvement of the achievable end-to-end data rate of ground users assisted with unmanned aerial vehicles (UAVs) and tethered balloons (TBs). The goal is to maximize the end-to-end throughput of a network suffering…

This paper presents a method for planning optimal trajectories with a team of Unmanned Aerial Vehicles (UAVs) performing autonomous cinematography. The method is able to plan trajectories online and in a distributed manner, providing…

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…

Collaborative aerial transportation of tethered payloads is fundamentally limited by space, power, and weight constraints. Conventional approaches rely on static equilibrium conditions, where each vehicle tilts to generate the forces that…

Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…

In this study, we applied reinforcement learning based on the proximal policy optimization algorithm to perform motion planning for an unmanned aerial vehicle (UAV) in an open space with static obstacles. The application of reinforcement…