相关论文: Timed-Elastic-Band Based Variable Splitting for Au…

We consider the problem of an autonomous agent equipped with multiple sensors, each with different sensing precision and energy costs. The agent's goal is to explore the environment and gather information subject to its resource constraints…

To exploit the thousand-fold increase in spectral brightness of modern light sources, increasingly intricate experiments are being conducted that demand extremely precise beam trajectory. Maintaining the optimal trajectory over several…

We consider monotone inclusion problems where the operators may be expectation-valued, a class of problems that subsumes convex stochastic optimization problems as well as subclasses of stochastic variational inequality and equilibrium…

Motion planning and control are two core components of the robotic systems autonomy stack. The standard approach to combine these methodologies comprises an offline/open-loop stage, planning, that designs a feasible and safe trajectory to…

The quest for higher wireless carrier frequencies spanning the millimeter-wave (mmWave) and Terahertz (THz) bands heralds substantial enhancements in data throughput and spectral efficiency for next-generation wireless networks. However,…

This paper investigates the mission planning problem for spacecraft confronting orbital debris to achieve autonomous avoidance. Firstly, combined with the avoidance requirements, a closed-loop framework of autonomous avoidance for orbital…

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…

This paper presents a new method for integrated time-optimal routing and trajectory optimization of multirotor unmanned aerial vehicles (UAVs). Our approach extends the well-known Traveling Salesman Problem by accounting for the limited…

This paper investigates an efficient algorithm for trajectory planning problem of autonomous unmanned aerial vehicles which fly over three-dimensional terrains. The proposed algorithm combines convex optimization with disjunctive…

We propose a method for performing automatic docking of a small autonomous surface vehicle (ASV) by interconnecting an optimization-based trajectory planner with a dynamic positioning (DP) controller for trajectory tracking. The trajectory…

Traffic management in a city has become a major problem due to the increasing number of vehicles on roads. Intelligent Transportation System (ITS) can help the city traffic managers to tackle the problem by providing accurate traffic…

In mixed-autonomy traffic networks, autonomous vehicles (AVs) are required to make sequential routing decisions under uncertainty caused by dynamic and heterogeneous interactions with human-driven vehicles (HDVs). Early-stage greedy…

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…

In this paper, a real-time quasi-optimal trajectory planning scheme is employed to guide an autonomous underwater vehicle (AUV) safely into a funnel-shape stationary docking station. By taking advantage of the direct method of calculus of…

Aiming at an obstacle avoidance problem with dynamic constraints for Unmanned Surface Vehicle (USV), a method based on Circle Grid Trajectory Cell (CGTC) is proposed. Firstly, the ship model and standardization rules are constructed to…

In this paper, we propose an efficient and accurate method for autonomous surface vehicles to generate a smooth and collision-free trajectory considering its dynamics constraints. We decouple the trajectory planning problem as a front-end…

This paper proposes a novel methodology for trajectory planning in autonomous vehicles (AVs), addressing the complex challenge of negotiating speed bumps within a unified Mixed-Integer Quadratic Programming (MIQP) framework. By leveraging…

This paper presents a non-linear optimization method for trajectory planning of tethered aerial robots. Particularly, the paper addresses the planning problem of an unmanned aerial vehicle (UAV) linked to an unmanned ground vehicle (UGV) by…

Optimal decision-making presents a significant challenge for autonomous systems operating in uncertain, stochastic and time-varying environments. Environmental variability over time can significantly impact the system's optimal decision…

Air-land bimodal vehicles provide a promising solution for navigating complex environments by combining the flexibility of aerial locomotion with the energy efficiency of ground mobility. However, planning dynamically feasible, smooth,…