相关论文: Embedded Hardware Appropriate Fast 3D Trajectory O…

Motion planning for manipulators under task space constraints is difficult as it constrains the joint configurations to always lie on an implicitly defined manifold. It is possible to view task constrained motion planning as an optimization…

Online trajectory optimization and optimal control methods are crucial for enabling sustainable unmanned aerial vehicle (UAV) services, such as agriculture, environmental monitoring, and transportation, where available actuation and energy…

The low-altitude networks (LANs) integrating unmanned aerial vehicles (UAVs) and high-altitude platforms (HAPs) have become a promising solution for the rising computation demands. However, the uncertain task sizes and high mobility of UAVs…

The enabling of safe cellular controlled unmanned aerial vehicle (UAV) beyond visual line of sight is expected to open important future opportunities in the area of transportation, goods delivery, and system monitoring. A key challenge in…

We consider the problem of finding collision-free paths for curvature-constrained systems in the presence of obstacles while minimizing execution time. Specifically, we focus on the setting where a planar system can travel at some range of…

The computational cost of traditional Computational Fluid Dynamics-based Aerodynamic Shape Optimization severely restricts design space exploration. This paper introduces TripOptimizer, a fully differentiable deep learning framework for…

Data compression technology is able to reduce data size, which can be applied to lower the cost of task offloading in mobile edge computing (MEC). This paper addresses the practical challenges for robust trajectory and scheduling…

In this work, we address the trajectory optimization of a fixed-wing unmanned aerial vehicle (UAV) using free space optical communication (FSOC). Here, we focus on maximizing the flight time of the UAV by considering practical constraints…

Multiple unmanned aerial vehicles (UAVs) play a vital role in monitoring and data collection in wide area environments with harsh conditions. In most scenarios, issues such as real-time data retrieval and real-time UAV positioning are often…

This letter investigates the transmit power and trajectory optimization problem for unmanned aerial vehicle (UAV)-aided networks. Different from majority of the existing studies with fixed communication infrastructure, a dynamic scenario is…

A computationally efficient method to solve non-convex programming problems with linear equality constraints is presented. The proposed method is based on a recursively feasible and descending sequential convex programming procedure proven…

Owing to the controlling flexibility and cost-effectiveness, fixed-wing unmanned aerial vehicles (UAVs) are expected to serve as flying base stations (BSs) in the air-ground integrated network. By exploiting the mobility of UAVs,…

MPC (Model predictive control)-based motion planning and trajectory generation are essential in applications such as unmanned aerial vehicles, robotic manipulators, and rocket control. However, the real-time implementation of such…

This letter aims to maximize the average throughput via the joint design of the transmit power and trajectory for unmanned aerial vehicle (UAV)-enabled network. The conventional way to tackle this problem is based on the alternating…

Unmanned aerial vehicle (UAV)-assisted mobile edge computing (MEC) system is a prominent concept, where a UAV equipped with a MEC server is deployed to serve a number of terminal devices (TDs) of Internet of Things (IoT) in a finite period.…

In this paper, we propose a novel trajectory optimization algorithm for mobile manipulators under end-effector path, collision avoidance and various kinematic constraints. Our key contribution lies in showing how this highly non-linear and…

Unmanned aerial vehicles (UAVs) have received plenty of attention due to their high flexibility and enhanced communication ability, nonetheless, the limited onboard energy restricts UAVs' application on persistent data collection missions…

For unmanned aerial vehicle (UAV) trajectory design, the total propulsion energy consumption and initial-final location constraints are practical factors to consider. However, unlike traditional offline designs, these two constraints are…

This paper studies the improvement of the achievable end-to-end data rate of ground users assisted with unmanned aerial vehicles (UAVs) and tethered balloons (TBs). The goal is to maximize the end-to-end throughput of a network suffering…

In this paper, we investigate an unmanned aerial vehicle (UAV)-assisted Internet-of-Things (IoT) system in a sophisticated three-dimensional (3D) environment, where the UAV's trajectory is optimized to efficiently collect data from multiple…