相关论文: On Dubins Paths to a Circle
In this paper, we present a motion planning strategy for UAVs that generates a time-optimal trajectory to survey a given target area. There are several situations where completing an aerial survey is time sensitive, such as gaining…
We study shortest paths and their distances on a subset of a Euclidean space, and their approximation by their equivalents in a neighborhood graph defined on a sample from that subset. In particular, we recover and extend the results of…
In this paper, we introduced a novel approach to computing the fewest-turn map directions or routes based on the concept of natural roads. Natural roads are joined road segments that perceptually constitute good continuity. This approach…
Planning for Autonomous Unmanned Ground Vehicles (AUGV) is still a challenge, especially in difficult, off-road, critical situations. Automatic planning can be used to reach mission objectives, to perform navigation or maneuvers. Most of…
A family of plane oriented continuous paths depending on a fixed real positive number $R$ is considered. For any point $x$ on the path, the previous points lie out of any circle of radius $R$ having at $x$ interior normal in a suitable…
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…
Unmanned systems (USs) including unmanned aerial vehicles, unmanned underwater vehicles, and unmanned ground vehicles have great application prospects in military and civil fields, among which the process of finding feasible and optimal…
Two-stage methods addressing continuous shortest path problems start local minimization from discrete shortest paths in a spatial graph. The convergence of such hybrid methods to global minimizers hinges on the discretization error induced…
Given a graph, the shortest-path problem requires finding a sequence of edges with minimum cumulative length that connects a source vertex to a target vertex. We consider a variant of this classical problem in which the position of each…
We address the challenge of real-time planning of minimum-time trajectories over multiple waypoints, onboard multirotor UAVs. Previous works demonstrated that achieving a truly time-optimal trajectory is computationally too demanding to…
We consider the problem of optimizing the trajectory of an Unmanned Aerial Vehicle (UAV). Assuming a traffic intensity map of users to be served, the UAV must travel from a given initial location to a final position within a given duration…
Pathfinding in Euclidean space is a common problem faced in robotics and computer games. For long-distance navigation on the surface of the earth or in outer space however, approximating the geometry as Euclidean can be insufficient for…
Given a rectilinear domain $\mathcal{P}$ of $h$ pairwise-disjoint rectilinear obstacles with a total of $n$ vertices in the plane, we study the problem of computing bicriteria rectilinear shortest paths between two points $s$ and $t$ in…
A covering path for a finite set $P$ of points in the plane is a polygonal path such that every point of $P$ lies on a segment of the path. The vertices of the path need not be at points of $P$. A covering path is plane if its segments do…
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…
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…
Let $\mathscr O$ be a set of $n$ disjoint obstacles in $\mathbb{R}^2$, $\mathscr M$ be a moving object. Let $s$ and $l$ denote the starting point and maximum path length of the moving object $\mathscr M$, respectively. Given a point $p$ in…
We consider the problem of finding minimum-link rectilinear paths in rectilinear polygonal domains in the plane. A path or a polygon is rectilinear if all its edges are axis-parallel. Given a set $\mathcal{P}$ of $h$ pairwise-disjoint…
Numerical computation of shortest paths or geodesics on curved domains, as well as the associated geodesic distance, arises in a broad range of applications across digital geometry processing, scientific computing, computer graphics, and…
This paper presents an optimal control problem to analyze the efficacy of counter-terrorism tactics. We present an algorithm that efficiently combines the Minimum Principle of Pontryagin, the shooting method and the cyclic descent of…