相关论文: Identification and Avoidance of Static and Dynamic…
This paper presents a three-dimensional, hydrodynamics-inspired collision avoidance framework for uncrewed aerial vehicle (UAV) formations operating in dynamic environments. When moving obstacles enter a UAV's sensing region, they are…
This work addresses the problem of coupling vision-based navigation systems for Unmanned Aerial Vehicles (UAVs) with robust obstacle avoidance capabilities. The former problem is solved by maximizing the visibility of the points of…
Obstacle avoidance for small unmanned aircraft is vital for the safety of future urban air mobility (UAM) and Unmanned Aircraft System (UAS) Traffic Management (UTM). There are many techniques for real-time robust drone guidance, but many…
Dynamic obstacle avoidance is a popular research topic for autonomous systems, such as micro aerial vehicles and service robots. Accurately evaluating the performance of dynamic obstacle avoidance methods necessitates the establishment of a…
This paper presents a new collision avoidance procedure for unmanned aerial vehicles in the presence of static and moving obstacles. The proposed procedure is based on a new form of local parametrized guidance vector fields, called…
Unmanned Aerial Vehicle (UAV) spectral remote sensing technology is widely used in water quality monitoring. However, in dynamic environments, varying illumination conditions, such as shadows and specular reflection (sun glint), can cause…
During recent years, unmanned surface vehicles are extensively utilised in a variety of maritime applications such as the exploration of unknown areas, autonomous transportation, offshore patrol and others. In such maritime applications,…
One of the most relevant tasks in an intelligent vehicle navigation system is the detection of obstacles. It is important that a visual perception system for navigation purposes identifies obstacles, and it is also important that this…
This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…
This paper proposes an integrated approach for the safe and efficient control of mobile robots in dynamic and uncertain environments. The approach consists of two key steps: one-shot multimodal motion prediction to anticipate motions of…
Developing a robust and effective obstacle detection and tracking system for Unmanned Surface Vehicle (USV) at marine environments is a challenging task. Research efforts have been made in this area during the past years by GRAAL lab at the…
Navigating unmanned aerial vehicles (UAVs) through cluttered and dynamic environments remains a significant challenge, particularly when dealing with fast-moving or sudden-appearing obstacles. This paper introduces a complete LiDAR-based…
Navigating dynamic environments requires the robot to generate collision-free trajectories and actively avoid moving obstacles. Most previous works designed path planning algorithms based on one single map representation, such as the…
In the field of robotics, the point cloud has become an essential map representation. From the perspective of downstream tasks like localization and global path planning, points corresponding to dynamic objects will adversely affect their…
Obstacle avoidance between polytopes is a challenging topic for optimal control and optimization-based trajectory planning problems. Existing work either solves this problem through mixed-integer optimization, relying on simplification of…
Deploying autonomous robots in crowded indoor environments usually requires them to have accurate dynamic obstacle perception. Although plenty of previous works in the autonomous driving field have investigated the 3D object detection…
Time-optimal obstacle avoidance is a prevalent problem encountered in various fields, including robotics and autonomous vehicles, where the task involves determining a path for a moving vehicle to reach its goal while navigating around…
Fixed-wing Unmanned Aerial Vehicles (UAVs) are one of the most commonly used platforms for the burgeoning Low-altitude Economy (LAE) and Urban Air Mobility (UAM), due to their long endurance and high-speed capabilities. Classical obstacle…
Autonomous driving requires reliable collision avoidance in dynamic environments. Nonlinear Model Predictive Controllers (NMPCs) are suitable for this task, but struggle in time-critical scenarios requiring high frequency. To meet this…
Obstacle detection is one of the basic tasks of a robot movement in an unknown environment. The use of a LiDAR (Light Detection And Ranging) sensor allows one to obtain a point cloud in the vicinity of the sensor. After processing this…