相关论文: Motion Planning for Heterogeneous Unmanned Systems…
The combination of a small unmanned ground vehicle (UGV) and a large unmanned carrier vehicle allows more flexibility in real applications such as rescue in dangerous scenarios. The autonomous recovery system, which is used to guide the…
We propose a novel hybrid system (both hardware and software) of an Unmanned Aerial Vehicle (UAV) carrying a miniature Unmanned Ground Vehicle (miniUGV) to perform a complex search and manipulation task. This system leverages heterogeneous…
We propose $\text{GMP}^{3}$, a multiphase global path planning framework that generates dynamically feasible three-dimensional trajectories for unmanned aerial vehicles (UAVs) operating in cluttered environments. The framework extends…
The combination of aerial survey capabilities of Unmanned Aerial Vehicles with targeted intervention abilities of agricultural Unmanned Ground Vehicles can significantly improve the effectiveness of robotic systems applied to precision…
We consider the online planning problem for a team of agents to discover and track an unknown and time-varying number of moving objects from onboard sensor measurements with uncertain measurement-object origins. Since the onboard sensors…
The global positioning system (GPS) has become an indispensable navigation method for field operations with unmanned surface vehicles (USVs) in marine environments. However, GPS may not always be available outdoors because it is vulnerable…
In this paper, we present an approach for coverage path planning for a team of an energy-constrained Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV). Both the UAV and the UGV have predefined areas that they have to cover.…
In Japan, inspection of irrigation water canals has been mostly conducted manually. However, the huge demand for more regular inspections as infrastructure ages, coupled with the limited time window available for inspection, has rendered…
Perception is necessary for autonomous navigation in an unknown area crowded with obstacles. It's challenging for a robot to navigate safely without any sensors that can sense the environment, resulting in a $\textit{blind}$ robot, and…
Vision-based pose estimation of Unmanned Aerial Vehicles (UAV) in unknown environments is a rapidly growing research area in the field of robot vision. The task becomes more complex when the only available sensor is a static single camera…
We introduce a decentralized and online path planning technique for a network of unmanned aerial vehicles (UAVs) in the presence of weather disturbances. In our problem setting, the group of UAVs are required to collaboratively visit a set…
This paper investigates the problem of trajectory planning for autonomous vehicles at unsignalized intersections, specifically focusing on scenarios where the vehicle lacks the right of way and yet must cross safely. To address this issue,…
Unmanned Aerial Vehicles (UAVs) dynamic encirclement is an emerging field with great potential. Researchers often get inspiration from biological systems, either from macro-world like fish schools or bird flocks etc, or from micro-world…
This study proposes an efficient data collection strategy exploiting a team of Unmanned Aerial Vehicles (UAVs) to monitor and collect the data of a large distributed sensor network usually used for environmental monitoring, meteorology,…
Uncertainties in dynamic road environments pose significant challenges for behavior and trajectory planning in autonomous driving. This paper introduces Hi-Drive, a hierarchical planning algorithm addressing uncertainties at both behavior…
Low-altitude urban flight planning for small Unmanned Aircraft Systems (UAS) requires accurate vehicle, environment maps, and risk models to assure flight plans consider the urban landscape as well as airspace constraints. This paper…
Recent technological advancements in small-scale unmanned aerial vehicles (UAVs) have led to the development of companion UAVs. Similar to conventional companion robots, companion UAVs have the potential to assist us in our daily lives and…
This paper proposes an unmanned aerial vehicle (UAV)-based distributed sensing framework that uses frequency-division multiplexing (OFDM) waveforms to detect the position of a ground target under half-duplex operation. The area of interest,…
Reliable estimation of network-wide traffic states is essential for urban traffic management. Unmanned Aerial Vehicles (UAVs), with their airborne full-sample continuous trajectory observation, bring new opportunities for traffic state…
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…