相关论文: Temporal Waypoint Navigation of Multi-UAV Payload …

Aerial Vision-and-Language Navigation (VLN) aims to enable unmanned aerial vehicles (UAVs) to interpret natural language instructions and navigate complex urban environments using onboard visual observation. This task holds promise for…

In spatially located, large scale systems, time and space dynamics interact and drives the behaviour. Examples of such systems can be found in many smart city applications and Cyber-Physical Systems. In this paper we present the Signal…

This paper introduces a system model called pilot-aided simultaneous communication and localisation (PASCAL) and illustrates its performance in the presence of practical gain and phase imperfections. Specifically, we consider the scenario…

Addressing safe and efficient interaction between connected and automated vehicles (CAVs) and human-driven vehicles in a mixed-traffic environment has attracted considerable attention. In this paper, we develop a framework for stochastic…

Multi-robot control in cluttered environments is a challenging problem that involves complex physical constraints, including robot-robot collisions, robot-obstacle collisions, and unreachable motions. Successful planning in such settings…

Signal Temporal Logic (STL) enables formal specification of complex spatiotemporal constraints for robotic task planning. However, synthesizing long-horizon continuous control trajectories from complex STL specifications is fundamentally…

In environments like offices, the duration of a robot's navigation between two locations may vary over time. For instance, reaching a kitchen may take more time during lunchtime since the corridors are crowded with people heading the same…

In airport operations, optimally using dedicated personnel for baggage handling tasks plays a crucial role in the design of resource-efficient processes. Teams of workers with different qualifications must be formed, and loading or…

In this paper we address the control problem of aerial cable suspended load transportation, using multiple Unmanned Aerial Vehicles (UAVs). First, the dynamical model of the coupled system is obtained using the Newton-Euler formalism, for…

To improve the localization precision of unmanned aerial vehicle (UAV), a novel framework is established by jointly utilizing multiple measurements of received signal strength (RSS) from multiple base stations (BSs) and multiple points on…

The world we live in is full of technology and with each passing day the advancement and usage of UAVs increases efficiently. As a result of the many application scenarios, there are some missions where the UAVs are vulnerable to external…

Learning to solve complex tasks with signal temporal logic (STL) specifications is crucial to many real-world applications. However, most previous works only consider fixed or parametrized STL specifications due to the lack of a diverse STL…

We consider energy-aware planning for an unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) team operating in a stochastic environment. The UAV must visit a set of air points in minimum time while respecting energy constraints,…

In this work, we focus on decomposing large multi-agent path planning problems with global temporal logic goals (common to all agents) into smaller sub-problems that can be solved and executed independently. Crucially, the sub-problems'…

One of the main foci of robotics is nowadays centered in providing a great degree of autonomy to robots. A fundamental step in this direction is to give them the ability to plan in discrete and continuous spaces to find the required motions…

A marine vessel is a nonlinear system subject to irregular disturbances such as wind and waves, which cause tracking errors between the nominal and actual trajectories. In this study, a nonlinear vessel maneuvering model that includes a…

We investigate the task and motion planning problem for dynamical systems under signal temporal logic (STL) specifications. Existing works on STL control synthesis mainly focus on generating plans that satisfy properties over a single…

A tracking controller for unmanned aerial vehicles (UAVs) is developed to track moving targets undergoing unknown translational and rotational motions. The main challenges are to control both the relative positions and angles between the…

This paper addresses a multi-robot planning problem in environments with partially unknown semantics. The environment is assumed to have known geometric structure (e.g., walls) and to be occupied by static labeled landmarks with uncertain…

Research in robotic planning with temporal logic specifications, such as Linear Temporal Logic (LTL), has relied on single formulas. However, as task complexity increases, LTL formulas become lengthy, making them difficult to interpret and…