相关论文: Risk-aware Path and Motion Planning for a Tethered…

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,…

In this paper, an autonomous tethered Unmanned Aerial Vehicle (UAV) is developed into a visual assistant in a marsupial co-robots team, collaborating with a tele-operated Unmanned Ground Vehicle (UGV) for robot operations in unstructured or…

This paper develops and compares two motion planning algorithms for a tethered UAV with and without the possibility of the tether contacting the confined and cluttered environment. Tethered aerial vehicles have been studied due to their…

The growing use of mobile robots in sectors such as automotive, agriculture, and rescue operations reflects progress in robotics and autonomy. In unmanned aerial vehicles (UAVs), most research emphasizes visual SLAM, sensor fusion, and path…

This paper presents a non-linear optimization method for trajectory planning of tethered aerial robots. Particularly, the paper addresses the planning problem of an unmanned aerial vehicle (UAV) linked to an unmanned ground vehicle (UGV) by…

We present a waypoint planning algorithm for an unmanned aerial vehicle (UAV) that is teamed with an unmanned ground vehicle (UGV) for the task of search and rescue in a subterranean environment. The UAV and UGV are teamed such that the…

This paper addresses the challenge of navigating unmanned aerial vehicles in contested environments by introducing a cooperative multi-agent framework that increases the likelihood of safe UAV traversal. The approach involves two types of…

While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstructured environments. We present a Virtual Reality (VR)-based…

Operating unmanned aerial vehicles (UAVs) in complex environments that feature dynamic obstacles and external disturbances poses significant challenges, primarily due to the inherent uncertainty in such scenarios. Additionally, inaccurate…

Despite recent progress on trajectory planning of multiple robots and path planning of a single tethered robot, planning of multiple tethered robots to reach their individual targets without entanglements remains a challenging problem. In…

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…

A tethered marsupial robotics system comprises three components: an Unmanned Ground Vehicle (UGV), an Unmanned Aerial Vehicle (UAV), and a tether connecting both robots. Marsupial systems are highly beneficial in industry as they extend the…

Unmanned Aerial Vehicles (UAVs) equipped with high-resolution sensors enable extensive data collection from previously inaccessible areas at a remarkable spatio-temporal scale, promising to revolutionize fields such as precision agriculture…

We propose developing an integrated system to keep autonomous unmanned aircraft safely separated and behave as expected in conjunction with manned traffic. The main goal is to achieve safe manned-unmanned vehicle teaming to improve system…

This paper develops a path planner that minimizes risk (e.g. motion execution) while maximizing accumulated reward (e.g., quality of sensor viewpoint) motivated by visual assistance or tracking scenarios in unstructured or confined…

There is an increased interest in the use of Unmanned Aerial Vehicles (UAVs) for agriculture, military, disaster management and aerial photography around the world. UAVs are scalable, flexible and are useful in various environments where…

An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…

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 paper proposes a path planning algorithm for multi-agent unmanned aircraft systems (UASs) to autonomously cover a search area, while considering obstacle avoidance, as well as the capabilities and energy consumption of the employed…

As the demands of autonomous mobile robots are increasing in recent years, the requirement of the path planning/navigation algorithm should not be content with the ability to reach the target without any collisions, but also should try to…