相关论文: Multi-UAV trajectory planning problem using the di…

Trajectory optimization offers mature tools for motion planning in high-dimensional spaces under dynamic constraints. However, when facing complex configuration spaces, cluttered with obstacles, roboticists typically fall back to…

We deal with the problem of planning collision-free trajectories for robots operating in a shared space. Given the start and destination position for each of the robots, the task is to find trajectories for all robots that reach their…

Unmanned aerial vehicles (UAVs) have attracted plenty of attention due to their high flexibility and enhanced communication ability. However, the limited coverage and energy of UAVs make it difficult to provide timely wireless service for…

In this paper, we propose a framework for fast trajectory planning for unmanned aerial vehicles (UAVs). Our framework is reformulated from an existing bilevel optimization, in which the lower-level problem solves for the optimal trajectory…

Swarms of Unmanned Aerial Vehicles (UAV) have demonstrated enormous potential in many industrial and commercial applications. However, before deploying UAVs in the real world, it is essential to ensure they can operate safely in complex…

The deployment flexibility and maneuverability of Unmanned Aerial Vehicles (UAVs) increased their adoption in various applications, such as wildfire tracking, border monitoring, etc. In many critical applications, UAVs capture images and…

Unmanned Aerial Vehicles (UAVs) are poised to revolutionize communications. Utilizing their flexibility and fast deployment, we can deliver content in congested areas or provide services in areas without infrastructure. In this paper, we…

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…

We present an efficient optimization framework that solves trajectory optimization problems by decoupling state variables from timing variables, thereby decomposing a challenging nonlinear programming (NLP) problem into two easier…

The optimization of fuel-optimal low-thrust collision avoidance maneuvers (CAMs) in scenarios involving multiple encounters between spacecraft is addressed. The optimization's objective is the minimization of the total fuel consumption…

Path planning for multiple unmanned aerial vehicles is a difficult task, and even more for a fleet of fixed-wing aircraft. One specific case is the transition to, or between, formation flight patterns, which requires synchronous arrivals…

In this paper, we propose a conflict-free multi- agent flight scheduling that ensures robust separation in con- strained airspace for Urban Air Mobility (UAM) operations application. First, we introduce Pairwise Conflict Avoidance (PCA)…

Unmanned aerial vehicles (UAV)-assisted mobile edge computing (MEC) is emerging as a promising paradigm to provide aerial-terrestrial computing services close to mobile devices (MDs). However, meeting the demands of computation-intensive…

The Unmanned Aerial Vehicle (UAV) path planning problem is a complex optimization problem in the field of robotics. In this paper, we investigate the possible utilization of this problem in benchmarking global optimization methods. We…

In this paper, the energy-efficient unmanned aerial vehicle (UAV) swarm assisted mobile edge computing (MEC) with dynamic clustering and scheduling is studied. In the considered system model, UAVs are divided into multiple swarms, with each…

We propose and study a version of the DCA (Difference-of-Convex functions Algorithm) using the $\ell_1$ penalty function for solving nonsmooth DC optimization problems with nonsmooth DC equality and inequality constraints. The method…

A path-following collision-avoidance model predictive control (MPC) method is proposed which approximates obstacle shapes as convex polygons. Collision-avoidance is ensured by means of the signed distance function which is calculated…

Detecting spoofing attacks on the positions of unmanned aerial vehicles (UAVs) within a swarm is challenging. Traditional methods relying solely on individually reported positions and pairwise distance measurements are ineffective in…

We consider the large sum of DC (Difference of Convex) functions minimization problem which appear in several different areas, especially in stochastic optimization and machine learning. Two DCA (DC Algorithm) based algorithms are proposed:…

For unmanned aerial vehicle (UAV) trajectory design, the total propulsion energy consumption and initial-final location constraints are practical factors to consider. However, unlike traditional offline designs, these two constraints are…