相关论文: Trajectory Generation for UAVs in Unknown Environm…

This paper presents a continuous-time optimal control framework for the generation of reference trajectories in driving scenarios with uncertainty. A previous work presented a discrete-time stochastic generator for autonomous vehicles;…

Unmanned Aerial Vehicles (UAVs) are poised to revolutionize communications. Utilizing their flexibility and fast deployment, we can deliver content in congested areas or provide services in areas without infrastructure. In this paper, we…

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,…

Motivated by the pursuit of safe, reliable, and weather-tolerant urban air mobility (UAM) solutions, this work proposes a generative modeling approach for characterizing microweather wind velocities. Microweather, or the weather conditions…

In this article, we address aquatic environmental monitoring using a fleet of unmanned surface vehicles (USVs). Specifically, we develop an online path generator that provides either circular or elliptic paths based on the real-time…

Advanced technological breakthroughs and exceptional levels of innovation are enhancing the capabilities and potential of autonomous unmanned aerial vehicles (UAVs or drones), and in so doing attracting the interest of a broader swath of…

Unmanned aerial vehicles (UAVs) are expected to be an integral part of wireless networks, and determining collision-free trajectories for multiple UAVs while satisfying requirements of connectivity with ground base stations (GBSs) is a…

This paper proposes a sliding mode controller with smooth control effort for a class of nonlinear plants. The proposed controller is created by allowing some constant parameters of the earlier smooth sliding control (SSC) to vary as a…

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…

Abstract. Fixed wing and multirotor UAVs are common in the field of robotics. Solutions for simulation and control of these vehicles are ubiquitous. This is not the case for airships, a simulation of which needs to address unique…

In different situations, like disaster communication and network connectivity for rural locations, unmanned aerial vehicles (UAVs) could indeed be utilized as airborne base stations to improve both the functionality and coverage of…

This paper addresses the problem of robotic operations in the presence of adversarial forces. We presents a complete framework for survey operations: waypoint generation,modelling of forces and tuning the control. In many applications of…

This paper presents a novel reinforcement learning framework for trajectory tracking of unmanned aerial vehicles in cluttered environments using a dual-agent architecture. Traditional optimization methods for trajectory tracking face…

We demonstrate the capabilities of an attention-based end-to-end approach for high-speed vision-based quadrotor obstacle avoidance in dense, cluttered environments, with comparison to various state-of-the-art learning architectures.…

The robotics community is increasingly interested in autonomous aerial transportation. Unmanned aerial vehicles with suspended payloads have advantages over other systems, including mechanical simplicity and agility, but pose great…

Quadrotor unmanned aerial vehicles have a limited quantity of embedded energy. To preserve and guaranty the success of the UAV mission, we should manage energy consumption during the mission. In this study we introduce an optimization…

In this paper, we analyze the effect of time delay dynamics on controller design for Unmanned Aerial Vehicles (UAVs) with vision based navigation. Time delay is an inevitable phenomenon in cyber-physical systems, and has important…

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…

Uncrewed aerial vehicles (UAVs) are increasingly used for exploration-driven monitoring in hazardous environments such as disaster zones, contaminated sites, wildfire areas, and damaged infrastructure, where limited flight endurance must be…

The use of the unmanned aerial vehicle (UAV) has been foreseen as a promising technology for the next generation communication networks. Since there are no regulations for UAVs deployment yet, most likely they form a network in coexistence…