相关论文: A two-stage algorithm for aircraft conflict resolu…

We investigate the problem of coordinating multiple automated vehicles (AVs) in confined areas. This problem can be formulated as an optimal control problem (OCP) where the motion of the AVs is optimized such that collisions are avoided in…

This work presents an efficient method to solve a class of continuous-time, continuous-space stochastic optimal control problems of robot motion in a cluttered environment. The method builds upon a path integral representation of the…

In this paper, we propose a trajectory optimization for computing smooth collision free trajectories for nonholonomic curvature bounded vehicles among static and dynamic obstacles. One of the key novelties of our formulation is a hierarchal…

The trajectory planning problem for a swarm of multiple UAVs is known as a challenging nonconvex optimization problem, particularly due to a large number of collision avoidance constraints required for individual pairs of UAVs in the swarm.…

We present a hierarchical control approach for maneuvering an autonomous vehicle (AV) in tightly-constrained environments where other moving AVs and/or human driven vehicles are present. A two-level hierarchy is proposed: a high-level…

A central aspect of robotic motion planning is collision avoidance, where a multitude of different approaches are currently in use. Optimization-based motion planning is one method, that often heavily relies on distance computations between…

In this paper, we propose a conflict-free multi- agent flight scheduling that ensures robust separation in con- strained airspace for Urban Air Mobility (UAM) operations application. First, we introduce Pairwise Conflict Avoidance (PCA)…

The steady development of motor vehicle technology will enable cars of the near future to assume an ever increasing role in the decision making and control of the vehicle itself. In the foreseeable future, cars will have the ability to…

This paper discusses the effect of sequential conflict resolution maneuvers of an infinite aircraft flow through a finite control volume. Aircraft flow models are utilized to simulate traffic flows and determine stability. Pseudo-random…

Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. Developing methods that make use of first/second order information about rigid-body dynamics in the presence…

We present a hierarchical safe auto-taxiing framework to enhance the automated ground operations of multiple unmanned aircraft systems (multi-UAS). The auto-taxiing problem becomes particularly challenging due to (i) unknown disturbances,…

This paper presents an integrated approach that combines trajectory optimization and Artificial Potential Field (APF) method for real-time optimal Unmanned Aerial Vehicle (UAV) trajectory planning and dynamic collision avoidance. A…

Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…

We present two novel approaches to alter a flight network for introducing new flights while maximizing airline's profit. A key feature of the first approach is to adjust the aircraft cruise speed to compensate for the block times of the new…

The introduction of new technologies and concepts of operation in the air transportation system is not possible, unless they can be proven not to adversely affect the system operation under not only nominal, but also degraded conditions. In…

We introduce a heuristic scheduling algorithm for real-time adaptive traffic signal control to reduce traffic congestion. This algorithm adopts a lane-based model that estimates the arrival time of all vehicles approaching an intersection…

This article considers a cooperative vehicle routing problem for an intelligence, surveillance, and reconnaissance mission in the presence of communication constraints between the vehicles. The proposed framework uses a ground vehicle and…

We present a unified approach for constraint displacement problems in which a robot finds a feasible path by displacing constraints or obstacles. To this end, we propose a two stage process that returns locally optimal obstacle…

Efficient trajectory optimization is essential for avoiding collisions in unstructured environments, but it remains challenging to have both speed and quality in the solutions. One reason is that second-order optimality requires calculating…

Quadrotor flight is an extremely challenging problem due to the limited control authority encountered at the limit of handling. Model Predictive Contouring Control (MPCC) has emerged as a promising model-based approach for time optimization…