相关论文: Multi-AAV Cooperative Path Planning using Nonlinea…

A new motion planning framework for automated highway merging is presented in this paper. To plan the merge and predict the motion of the neighboring vehicle, the ego automated vehicle solves a joint optimization of both vehicle costs over…

Employing Stochastic Nonlinear Model Predictive Control (SNMPC) for real-time applications is challenging due to the complex task of propagating uncertainties through nonlinear systems. This difficulty becomes more pronounced in…

This paper studies a heterogeneous Unmanned Aerial Vehicles (UAVs) cooperative search approach suitable for complex environments. In the application, a fixed-wing UAV drops rotor UAVs to deploy the cluster rapidly. Meanwhile, the fixed-wing…

Unmanned Aerial Vehicle (UAV) swarm systems necessitate efficient collaborative perception mechanisms for diverse operational scenarios. Current Bird's Eye View (BEV)-based approaches exhibit two main limitations: bounding-box…

We consider scenarios where a ground vehicle plans its path using data gathered by an aerial vehicle. In the aerial images, navigable areas of the scene may be occluded due to obstacles. Naively planning paths using aerial images may result…

In this study, we are concerned with autonomous driving missions when a static obstacle blocks a given reference trajectory. To provide a realistic control design, we employ a model predictive control (MPC) utilizing nonlinear state-space…

This paper presents a method for planning optimal trajectories with a team of Unmanned Aerial Vehicles (UAVs) performing autonomous cinematography. The method is able to plan trajectories online and in a distributed manner, providing…

A distributed coordination method for solving multi-vehicle lane changes for connected autonomous vehicles (CAVs) is presented. Existing approaches to multi-vehicle lane changes are passive and opportunistic as they are implemented only…

This paper presents a method for path-following for quadcopter trajectories in real time. Non-Linear Guidance Logic is used to find the intercepts of the subsequent destination. Trajectory tracking is implemented by formulating the…

Autonomous motion capture (mocap) systems for outdoor scenarios involving flying or mobile cameras rely on i) a robotic front-end to track and follow a human subject in real-time while he/she performs physical activities, and ii) an…

Intelligent aerial platforms such as Unmanned Aerial Vehicles (UAVs) are expected to revolutionize various fields, including transportation, traffic management, field monitoring, industrial production, and agricultural management. Among…

This work extends our prior work on the distributed nonlinear model predictive control (NMPC) for navigating a robot fleet following a certain flocking behavior in unknown obstructed environments with a more realistic local obstacle…

In this paper, we investigate a secure communication architecture based on unmanned aerial vehicle (UAV), which enhances the security performance of the communication system through UAV trajectory optimization. We formulate a control…

The cooperation of connected and automated vehicles (CAVs) has shown great potential in improving traffic efficiency during intersection management. Existing research mainly focuses on intersections where lane changing is prohibited, which…

Most applications in autonomous navigation using mounted cameras rely on the construction and processing of geometric 3D point clouds, which is an expensive process. However, there is another simpler way to make a space navigable quickly:…

This paper investigates the problem of traffic surveillance using an unmanned aerial vehicle (UAV) and proposes a domain-knowledge-aided airborne ground moving targets tracking algorithm. To improve the accuracy of multiple targets…

Cooperative map matching (CMM) uses the Global Navigation Satellite System (GNSS) positioning of a group of vehicles to improve the standalone localization accuracy. It has been shown to reduce GNSS error from several meters to sub-meter…

Ensuring safety in autonomous vehicles necessitates advanced path planning and obstacle avoidance capabilities, particularly in dynamic environments. This paper introduces a bi-level control framework that efficiently augments road…

Multiple multirotor Micro Aerial Vehicles sharing the same airspace require a reliable and robust collision avoidance technique. In this paper we address the problem of multi-MAV reactive collision avoidance. A model-based controller is…

This paper presents a novel Nonlinear Model Predictive Control (NMPC) scheme for underwater robotic vehicles operating in a constrained workspace including static obstacles. The purpose of the controller is to guide the vehicle towards…