相关论文: Fields2Cover: An open-source coverage path plannin…

This paper introduces FALCON, a novel Fast Autonomous expLoration framework using COverage path guidaNce, which aims at setting a new performance benchmark in the field of autonomous aerial exploration. Despite recent advancements in the…

The adoption of mobile robotic platforms in complex environments, such as agricultural settings, requires these systems to exhibit a flexible yet effective architecture that integrates perception and control. In such scenarios, several…

We present Ungar, an open-source library to aid the implementation of high-dimensional optimal control problems (OCPs). We adopt modern template metaprogramming techniques to enable the compile-time modeling of complex systems while…

Autonomous navigation is the key to achieving the full automation of agricultural research and production management (e.g., disease management and yield prediction) using agricultural robots. In this paper, we introduced a vision-based…

Cooperatively utilizing both ego-vehicle and infrastructure sensor data via V2X communication has emerged as a promising approach for advanced autonomous driving. However, current research mainly focuses on improving individual modules,…

Modeling a robust control system with a precise GPS-based state estimation capability in simulation can be useful in field navigation applications as it allows for testing and validation in a controlled environment. This testing process…

Implementing fully automatic unmanned surface vehicles (USVs) monitoring water quality is challenging since effectively collecting environmental data while keeping the platform stable and environmental-friendly is hard to approach. To…

Unmanned aerial vehicles (UAVs) are increasingly utilized in global search and rescue efforts, enhancing operational efficiency. In these missions, a coordinated swarm of UAVs is deployed to efficiently cover expansive areas by capturing…

Automated parking stands as a highly anticipated application of autonomous driving technology. However, existing path planning methodologies fall short of addressing this need due to their incapability to handle the diverse and complex…

A decomposition-based coverage control scheme is proposed for multi-agent, persistent surveillance missions operating in a communication-constrained, dynamic environment. The proposed approach decouples high-level task assignment from…

Teleoperation is a key enabler for future mobility, supporting Automated Vehicles in rare and complex scenarios beyond the capabilities of their automation. Despite ongoing research, no open source software currently combines Remote…

Unmanned Aerial Vehicles (UAVs) have gained popularity in data harvesting (DH) and coverage path planning (CPP) to survey a given area efficiently and collect data from aerial perspectives, while data harvesting aims to gather information…

Modern software systems often consist of many different components, each with a number of options. Although unit tests may reveal faulty options for individual components, functionally correct components may interact in unforeseen ways to…

Many robots move through the world by composing locomotion primitives like steps and turns. To do so well, robots need not have primitives that make intuitive sense to humans. This becomes of paramount importance when robots are damaged and…

This paper presents a novel envelope based model predictive control (MPC) framework designed to enable autonomous vehicles to handle high performance driving across a wide range of scenarios without a predefined reference. In high…

There is a growing demand for autonomous mobile robots capable of navigating unstructured agricultural environments. Tasks such as weed control in meadows require efficient path planning through an unordered set of coordinates while…

This paper presents a collection of path planning algorithms for real-time movement of multiple robots across a Robotic Mobile Fulfillment System (RMFS). Robots are assigned to move storage units to pickers at working stations instead of…

Although Cooperative Driving Automation (CDA) has attracted considerable attention in recent years, there remain numerous open challenges in this field. The gap between existing simulation platforms that mainly concentrate on single-vehicle…

This article presents updates to lifex [Africa, SoftwareX (2022)], a C++ library for high-performance finite element simulations of multiphysics, multiscale and multidomain problems. In this release, we introduce an additional intergrid…

The evaluation of informative path planning algorithms for autonomous vehicles is often hindered by fragmented execution pipelines and limited transferability between simulation and real-world deployment. This paper introduces a unified…