相关论文: The Weighted Markov-Dubins Problem

As UAV popularity soars, so does the mission planning associated with it. The classical approaches suffer from the triple problems of decoupled of task assignment and path planning, poor real-time performance and limited adaptability.…

In this paper, we look into the minimum obstacle displacement (MOD) planning problem from a mobile robot motion planning perspective. This problem finds an optimal path to goal by displacing movable obstacles when no path exists due to…

The Dubins interval problem aims to find the shortest path of bounded curvature between two targets such that the departure angle from the first target and the arrival angle at the second target are constrained to two respective intervals.…

This work addresses the path planning problem for a group of unmanned aerial vehicles (UAVs) to maintain a desired formation during operation. Our approach formulates the problem as an optimization task by defining a set of fitness…

Planning problems are hard, motion planning, for example, isPSPACE-hard. Such problems are even more difficult in the presence of uncertainty. Although, Markov Decision Processes (MDPs) provide a formal framework for such problems, finding…

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…

This paper is concerned with characterizing the shortest path of a Dubins vehicle from a position with a prescribed heading angle to a target circle with the final heading tangential to the target circle. Such a shortest path is of…

In this paper, we propose a new modeling approach and a fast algorithm for 3D motion planning, applicable for fixed-wing unmanned aerial vehicles. The goal is to construct the shortest path connecting given initial and final configurations…

We present an efficient path planning algorithm for an Unmanned Aerial Vehicle surveying a cluttered urban landscape. A special emphasis is on maximizing area surveyed while adhering to constraints of the UAV and partially known and…

Engine failure is a recurring emergency in General Aviation and fixed-wing UAVs, often requiring the pilot or remote operator to carry out carefully planned glides to safely reach a candidate landing strip. We tackle the problem of…

Path planning is a major problem in autonomous vehicles. In recent years, with the increase in applications of Unmanned Aerial Vehicles (UAVs), one of the main challenges is path planning, particularly in adversarial environments. In this…

This paper presents a novel model predictive control strategy for controlling autonomous motion systems moving through an environment with obstacles of general shape. In order to solve such a generic non-convex optimization problem and find…

This paper presents a robust path-planning framework for safe spacecraft autonomy under uncertainty and develops a computationally tractable formulation based on convex programming. We utilize chance-constrained control to formulate the…

We present an analytic solution to the 3D Dubins path problem for paths composed of an initial circular arc, a straight component, and a final circular arc. These are commonly called CSC paths. By modeling the start and goal configurations…

In this paper, the trajectory planning problem for autonomous rendezvous and docking between a controlled spacecraft and a tumbling target is addressed. The use of a variable planning horizon is proposed in order to construct an appropriate…

In this paper, motion planning for a vehicle moving on a unit sphere with unit speed is considered, wherein the desired terminal location is fixed, but the terminal orientation is free. The motion of the vehicle is modeled to be constrained…

Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…

Reliable estimation of macro and micro traffic states is essential for urban traffic management. Unmanned Aerial Vehicles, with their airborne full-sample continuous trajectory observation, bring new opportunities for macro- and…

Standard algorithms for finding the shortest path in a graph require that the cost of a path be additive in edge costs, and typically assume that costs are deterministic. We consider the problem of uncertain edge costs, with potential…

We propose a combination of a bounding procedure and gradient descent method for solving the Dubins traveling salesman problem, that is, the problem of finding a shortest curvature-constrained tour through a finite number of points in the…