相关论文: Guiding vector fields in Paparazzi autopilot

This research paper presents a novel approach for navigating a micro UAV (Unmanned Aerial Vehicle) through narrow passages using only its onboard camera feed and a PID control system. The proposed method uses edge detection and homography…

For autonomous navigation, accurate localization with respect to a map is needed. In urban environments, infrastructure such as buildings or bridges cause major difficulties to Global Navigation Satellite Systems (GNSS) and, despite…

Image tracing is a foundational component of the workflow in graphic design, engineering, and computer animation, linking hand-drawn concept images to collections of smooth curves needed for geometry processing and editing. Even for clean…

Autonomous vehicles often perceive the environment by feeding sensor data to a learned detector algorithm, then feeding detections to a multi-object tracker that models object motions over time. Probabilistic models of multi-object trackers…

We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments cluttered with obstacles having arbitrary convex shapes. The proposed navigation approach relies on a hybrid feedback to guarantee global…

Vector-based algorithms are novel algorithms in optimal any-angle path planning that are motivated by bug algorithms, bypassing free space by directly conducting line-of-sight checks between two queried points, and searching along obstacle…

In this paper a vision-based vehicles recognition method is presented. Proposed method uses fuzzy description of image segments for automatic recognition of vehicles recorded in image data. The description takes into account selected…

This paper proposes a distributed guiding-vector-field (DGVF) controller for cross-domain unmanned systems (CDUSs) consisting of heterogeneous unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs), to achieve coordinated…

Automated Vehicle Path Following Control (PFC) is an advanced control system that can regulate the vehicle into a collision-free region in the presence of other objects on the road. Common collision avoidance functions, such as forward…

In this study a new approach is proposed for the generation of aircraft trajectories. The relative guidance of an aircraft, which is aimed to join in minimum time the track of a leader aircraft, is particularly considered. In a first place,…

To improve safety and energy efficiency, autonomous vehicles are expected to drive smoothly in most situations, while maintaining their velocity below a predetermined speed limit. However, some scenarios such as low road adherence or…

This paper introduces an innovative application of foundation models, enabling Unmanned Ground Vehicles (UGVs) equipped with an RGB-D camera to navigate to designated destinations based on human language instructions. Unlike learning-based…

Highway driving invariably combines high speeds with the need to interact closely with other drivers. Prediction methods enable autonomous vehicles (AVs) to anticipate drivers' future trajectories and plan accordingly. Kinematic methods for…

This paper addresses the problem of navigation using only relative direction measurements (i.e., relative distances are unknown) under field of view constraints. We present a novel navigation vector field for the bearing-based visual homing…

Self-driving vehicles must be able to act intelligently in diverse and difficult environments, marked by high-dimensional state spaces, a myriad of optimization objectives and complex behaviors. Traditionally, classical optimization and…

Trained humans exhibit highly agile spatial skills, enabling them to operate vehicles with complex dynamics in demanding tasks and conditions. Prior work shows that humans achieve this performance by using strategies such as satisficing,…

Autonomous navigation is a pre-requisite for field robots to carry out precision agriculture tasks. Typically, a robot has to navigate through a whole crop field several times during a season for monitoring the plants, for applying…

The recent years have witnessed increased development of small, autonomous fixed-wing Unmanned Aerial Vehicles (UAVs). In order to unlock widespread applicability of these platforms, they need to be capable of operating under a variety of…

When pushing the speed limit for aggressive off-road navigation on uneven terrain, it is inevitable that vehicles may become airborne from time to time. During time-sensitive tasks, being able to fly over challenging terrain can also save…

Street-level visual appearances play an important role in studying social systems, such as understanding the built environment, driving routes, and associated social and economic factors. It has not been integrated into a typical…