相关论文: Predictive Control for Chasing a Ground Vehicle us…

Agile trajectory planning can improve the efficiency of multi-rotor Uncrewed Aerial Vehicles (UAVs) in scenarios with combined task-oriented and kinematic trajectory planning, such as monitoring spatio-temporal phenomena or intercepting…

This paper investigates optimal takeoff trajectory planning for a quadrotor modeled with vertical-plane rigid body dynamics in an uncertain, one-dimensional wind-field. The wind-field varies horizontally and propagates across an operating…

Motion planning in environments with multiple agents is critical to many important autonomous applications such as autonomous vehicles and assistive robots. This paper considers the problem of motion planning, where the controlled agent…

There are many situations for which an unmanned ground vehicle has to work with only partial observability of the environment. Therefore, a feasible nonholonomic obstacle avoidance and target tracking action must be generated immediately…

This project aimed to develop an automated cinematography platform using an unmanned aerial vehicle. Quadcopters are a great platform for shooting aerial scenes but are difficult to maneuver smoothly and can require expertise to pilot. We…

The design of the path-following controller is crucial for reliable autonomous vehicle operation. This design problem is especially challenging for a general 2-trailer with a car-like tractor due to the vehicle's unstable joint-angle…

Safe operations of UAVs are of paramount importance for various mission-critical and safety-critical UAV applications. In context of airborne target tracking and following, UAVs need to track a flying target avoiding collision and also…

This paper is an addition to an article previously published by three of the authors that addresses the control of convertible fixed-wing aircraft with vectorized thrust. The control solution here developed extends the one presented in the…

The aim of this work is to define a planner that enables robust legged locomotion for complex multi-agent systems consisting of several holonomically constrained quadrupeds. To this end, we employ a methodology based on behavioral systems…

Quadrotors with the ability to perch on moving inclined surfaces can save energy and extend their travel distance by leveraging ground vehicles. Achieving dynamic perching places high demands on the performance of trajectory planning and…

Unmanned Aerial Vehicle (UAV) has already demonstrated its potential in many civilian applications, and the fa\c{c}ade inspection is among the most promising ones. In this paper, we focus on enabling the autonomous perception and control of…

Mars has been a prime candidate for planetary exploration of the solar system because of the science discoveries that support chances of future habitation on this planet. Martian caves and lava tubes like terrains, which consists of uneven…

In this paper we treat optimal trajectory planning for an autonomous vehicle (AV) operating in dense traffic, where vehicles closely interact with each other. To tackle this problem, we present a novel framework that couples trajectory…

This paper presents a technique to cope with the gap between high-level planning, e.g., reference trajectory tracking, and low-level controlling using a learning-based method in the plan-based control paradigm. The technique improves the…

For motion planning and control of autonomous vehicles to be proactive and safe, pedestrians' and other road users' motions must be considered. In this paper, we present a vehicle motion planning and control framework, based on Model…

This paper proposes a novel trajectory generation method based on Model Predictive Control (MPC) for agile landing of an Unmanned Aerial Vehicle (UAV) onto an Unmanned Surface Vehicle (USV)'s deck in harsh conditions. The trajectory…

In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…

This work deals with a moving target chasing mission of an aerial vehicle equipped with a vision sensor in a cluttered environment. In contrast to obstacle-free or sparse environments, the chaser should be able to handle collision and…

Existing FPV object tracking methods heavily rely on handcrafted modular pipelines, which incur high onboard computation and cumulative errors. While learning-based approaches have mitigated computational delays, most still generate only…

Multi-UAV pursuit-evasion, where pursuers aim to capture evaders, poses a key challenge for UAV swarm intelligence. Multi-agent reinforcement learning (MARL) has demonstrated potential in modeling cooperative behaviors, but most RL-based…