相关论文: Collision Avoidance for Autonomous Surface Vessels…

The increasing use and implementation of Autonomous Surface Vessels (ASVs) for various activities in maritime environments is expected to drive a rise in developments and research on their control. Particularly, the coordination of multiple…

Path planning is critical for autonomous vehicles (AVs) to determine the optimal route while considering constraints and objectives. The potential field (PF) approach has become prevalent in path planning due to its simple structure and…

Obstacle avoidance enables autonomous agents and robots to operate safely and efficiently in dynamic and complex environments, reducing the risk of collisions and damage. For a robot or autonomous system to successfully navigate through…

This paper presents a novel solution to address the challenges in achieving energy efficiency and cooperation for collision avoidance in UAV swarms. The proposed method combines Artificial Potential Field (APF) and Particle Swarm…

Recent work on the multi-agent pathfinding problem (MAPF) has begun to study agents with motion that is more complex, for example, with non-unit action durations and kinematic constraints. An important aspect of MAPF is collision detection.…

As vehicle automation advances, motion planning algorithms face escalating challenges in achieving safe and efficient navigation. Existing Advanced Driver Assistance Systems (ADAS) primarily focus on basic tasks, leaving unexpected…

One of the challenges of Industry 4.0, is to determine and optimize the flow of data, products and materials in manufacturing companies. To realize these challenges, many solutions have been defined such as the utilization of automated…

Heading towards navigational autonomy in unmanned surface vehicles (USVs) in the maritime sector can fundamentally lead towards safer waters as well as reduced operating costs, while also providing a range of exciting new capabilities for…

This paper describes a novel method for allowing an autonomous ground vehicle to predict the intent of other agents in an urban environment. This method, termed the cognitive driving framework, models both the intent and the potentially…

In recent years, unmanned aerial vehicles (UAVs) are used for numerous inspection and video capture tasks. Manually controlling UAVs in the vicinity of obstacles is challenging, however, and poses a high risk of collisions. Even for…

This paper presents a three-dimensional, hydrodynamics-inspired collision avoidance framework for uncrewed aerial vehicle (UAV) formations operating in dynamic environments. When moving obstacles enter a UAV's sensing region, they are…

This article considers collision avoidance (COLAV) for both static and moving obstacles using the branching-course model predictive control (BC-MPC) algorithm, which is designed for use by autonomous surface vehicles (ASVs). The BC-MPC…

This paper proposes a unified decision making and local trajectory planning framework based on Time-Varying Artificial Potential Fields (TVAPFs). The TVAPF explicitly models the predicted motion via bounded uncertainty of dynamic obstacles…

Avoiding collisions between obstacles and vehicles such as cars, robots or aircraft is essential to the development of automation and autonomy. To simplify the problem, many collision avoidance algorithms and proofs consider vehicles to be…

To be applicable to real world scenarios trajectory planning schemes for mobile autonomous systems must be able to efficiently deal with obstacles in the area of operation. In the context of optimization based trajectory planning and…

This paper focuses on the problem of collaborative collision avoidance for autonomous inland ships. Two solutions are provided to solve the problem in a distributed manner. We first present a distributed model predictive control (MPC)…

Automated Vehicle Path Following Control (PFC) is an advanced control system that can regulate the vehicle into a collision-free region in the presence of other objects on the road. Common collision avoidance functions, such as forward…

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…

The space environment around the Earth is becoming increasingly populated by both active spacecraft and space debris. To avoid potential collision events, significant improvements in Space Situational Awareness (SSA) activities and…

This paper presents a general end-to-end framework for constructing robust and reliable layered safety filters that can be leveraged to perform dynamic collision avoidance over a broad range of applications using only local perception data.…