相关论文: Receding Horizon Navigation and Target Tracking fo…
We propose a novel receding horizon planner for an autonomous surface vehicle (ASV) performing path planning in urban waterways. Feasible paths are found by repeatedly generating and searching a graph reflecting the obstacles observed in…
Platoon formation with connected and automated vehicles (CAVs) in a mixed traffic environment poses significant challenges due to the presence of human-driven vehicles (HDVs) with unknown dynamics and control actions. In this paper, we…
Aerial robots can enhance their safe and agile navigation in complex and cluttered environments by efficiently exploiting the information collected during a given task. In this paper, we address the learning model predictive control problem…
This paper addresses the problem of detecting radioactive material in transit using an UAV of minimal sensing capability, where the objective is to classify the target's radioactivity as the vehicle plans its paths through the workspace…
Consider an unmanned aerial vehicle (UAV) that searches for an unknown number of targets at unknown positions in 3D space. A particle filter uses imperfect measurements about the targets to update an intensity function that represents the…
Mobile robot platforms are increasingly being used to automate information gathering tasks such as environmental monitoring. Efficient target tracking in dynamic environments is critical for applications such as search and rescue and…
This paper proposes a systematic solution that uses an unmanned aerial vehicle (UAV) to aggressively and safely track an agile target. The solution properly handles the challenging situations where the intent of the target and the dense…
Quadrotors can provide services such as infrastructure inspection and search-and-rescue, which require operating autonomously in cluttered environments. Autonomy is typically achieved with receding-horizon planning, where a short plan is…
This paper studies the problem of risk-averse receding horizon motion planning for agents with uncertain dynamics, in the presence of stochastic, dynamic obstacles. We propose a model predictive control (MPC) scheme that formulates the…
Nowadays, unmanned aerial vehicles or UAVs are being used for a wide range of tasks, including infrastructure inspection, automated monitoring and coverage. This paper investigates the problem of 3D inspection planning with an autonomous…
The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…
This paper presents an optimization-based receding horizon trajectory planning algorithm for dynamical systems operating in unstructured and cluttered environments. The proposed approach is a two-step procedure that uses a motion planning…
This paper presents a method for local motion planning in unstructured environments with static and moving obstacles, such as humans. Given a reference path and speed, our optimization-based receding-horizon approach computes a local…
In this paper, a novel and innovative methodology for feasible motion planning in the multi-agent system is developed. On the basis of velocity obstacles characteristics, the chance constraints are formulated in the receding horizon control…
Visual inertial odometry (VIO) is widely used for the state estimation of multicopters, but it may function poorly in environments with few visual features or in overly aggressive flights. In this work, we propose a perception-aware…
Fully actuated omnidirectional UAVs enable independent control of forces and torques along all six degrees of freedom, broadening the operational envelope for agile flight and aerial interaction tasks. However, conventional control…
Cameras provide a rich source of information while being passive, cheap and lightweight for small and medium Unmanned Aerial Vehicles (UAVs). In this work we present the first implementation of receding horizon control, which is widely used…
Autonomous Micro Aerial Vehicles (MAVs) have the potential to be employed for surveillance and monitoring tasks. By perching and staring on one or multiple locations aerial robots can save energy while concurrently increasing their overall…
Reactive collision avoidance is essential for agile robots navigating complex and dynamic environments, enabling real-time obstacle response. However, this task is inherently challenging because it requires a tight integration of…
Motion planning is an essential process for the navigation of unmanned aerial vehicles (UAVs) where they need to adapt to obstacles and different structures of their operating environment to reach the goal. This paper presents an optimal…