相关论文: Mission planning for emergency rapid mapping with …

This paper considers safe robot mission planning in uncertain dynamical environments. This problem arises in applications such as surveillance, emergency rescue, and autonomous driving. It is a challenging problem due to modeling and…

Significant advances in sensing, robotics, and wireless networks have enabled the collaborative utilization of autonomous aerial, ground and underwater vehicles for various applications. However, to successfully harness the benefits of…

Unmanned Aerial Vehicles (UAVs) have great potential in urban traffic monitoring due to their rapid speed, cost-effectiveness, and extensive field-of-view, while being unconstrained by traffic congestion. However, their limited flight…

We address the problem of reactive motion planning for quadrotors operating in unknown environments with dynamic obstacles. Our approach leverages a 4-dimensional spatio-temporal planner, integrated with vision-based Safe Flight Corridor…

Indoor motion planning focuses on solving the problem of navigating an agent through a cluttered environment. To date, quite a lot of work has been done in this field, but these methods often fail to find the optimal balance between…

This paper proposes a novel mission planning platform, capable of efficiently deploying a team of UAVs to cover complex-shaped areas, in various remote sensing applications. Under the hood lies a novel optimization scheme for grid-based…

In the event of natural or man-made disasters in an urban environment, such as fires, floods, and earthquakes, a swarm of unmanned aerial vehicles (UAVs) can rapidly sweep and provide coverage to monitor the area of interest and locate…

Harvesting data from distributed Internet of Things (IoT) devices with multiple autonomous unmanned aerial vehicles (UAVs) is a challenging problem requiring flexible path planning methods. We propose a multi-agent reinforcement learning…

Autonomous navigation through unknown environments is a challenging task that entails real-time localization, perception, planning, and control. UAVs with this capability have begun to emerge in the literature with advances in lightweight…

Current methods of deploying robots that operate in dynamic, uncertain environments, such as Uncrewed Aerial Systems in search \& rescue missions, require nearly continuous human supervision for vehicle guidance and operation. These methods…

Unmanned ground vehicles (UGVs) are being used extensively in civilian and military applications for applications such as underground mining, nuclear plant operations, planetary exploration, intelligence, surveillance and reconnaissance…

In this paper, we study the Multi-Start Team Orienteering Problem (MSTOP), a mission re-planning problem where vehicles are initially located away from the depot and have different amounts of fuel. We consider/assume the goal of multiple…

With the continuous increment of maritime applications, the development of marine networks for data offloading becomes necessary. However, the limited maritime network resources are very difficult to satisfy real-time demands. Besides, how…

This article aims to develop novel path planning algorithms required to deploy multiple unmanned vehicles in Global Positioning System (GPS) denied environments. Unmanned vehicles (ground or aerial) are ideal platforms for executing…

In post-disaster scenarios, rapid and efficient delivery of medical resources is critical and challenging due to severe damage to infrastructure. To provide an optimized solution, we propose a cooperative trajectory optimization and task…

Efficient robotic extraterrestrial exploration requires robots with diverse capabilities, ranging from scientific measurement tools to advanced locomotion. A robotic team enables the distribution of tasks over multiple specialized…

The unmanned aerial vehicle (UAV)-enabled communication technology is regarded as an efficient and effective solution for some special application scenarios where existing terrestrial infrastructures are overloaded to provide reliable…

Most of the routing algorithms for unmanned vehicles, that arise in data gathering and monitoring applications in the literature, rely on the Global Positioning System (GPS) information for localization. However, disruption of GPS signals…

This paper presents a method for robotic monitoring missions in the presence of moving obstacles. Although the scenario map is known, the robot lacks information about the movement of dynamic obstacles during the monitoring mission.…

This article presents a framework and develops a formulation to solve a path planning problem for multiple heterogeneous Unmanned Vehicles (UVs) with uncertain service times for each vehicle--target pair. The vehicles incur a penalty…