相关论文: Effective Underwater Glider Path Planning in Dynam…
Unmanned Surface Vehicles (USVs) in the ocean environment, considering various spatiotemporal factors such as ocean currents and other energy consumption factors. The paper uses Gaussian Process Motion Planning (GPMP2), a Bayesian…
The development of novel autonomous underwater gliders has been hindered by limited shape diversity, primarily due to the reliance on traditional design tools that depend heavily on manual trial and error. Building an automated design…
Motion planning for robotic manipulators is a fundamental problem in robotics. Classical optimization-based methods typically rely on the gradients of signed distance fields (SDFs) to impose collision-avoidance constraints. However, these…
Motion planning is challenging for multiple robots in cluttered environments without communication, especially in view of real-time efficiency, motion safety, distributed computation, and trajectory optimality, etc. In this paper, a…
Navigation in complex 3D scenarios requires appropriate environment representation for efficient scene understanding and trajectory generation. We propose a highly efficient and extensible global navigation framework based on a tomographic…
We explore the use of Artificial Potential Fields (APFs) to solve Multi-Agent Path Finding (MAPF) and Lifelong MAPF (LMAPF) problems. In MAPF, a team of agents must move to their goal locations without collisions, whereas in LMAPF, new…
We present Model Predictive Planning (MPP), a trajectory planner for low-agility vehicles such as a fixed-wing aircraft to navigate obstacle-laden environments. MPP consists of (1) a multi-path planning procedure that identifies candidate…
Agile mapless navigation in cluttered 3D environments poses significant challenges for autonomous drones. Conventional mapping-planning-control pipelines incur high computational cost and propagate estimation errors. We present AERO-MPPI, a…
Autonomous underwater gliders use buoyancy control to achieve forward propulsion via a sawtooth-like, rise-and-fall trajectory. Because gliders are slow-moving relative to ocean currents, glider control must consider the effect of oceanic…
In the area of multi-drone systems, navigating through dynamic environments from start to goal while providing collision-free trajectory and efficient path planning is a significant challenge. To solve this problem, we propose a novel…
In recent years, interest in autonomous shipping in urban waterways has increased significantly due to the trend of keeping cars and trucks out of city centers. Classical approaches such as Frenet frame based planning and potential field…
Biological flyers and swimmers navigate in unsteady wake flows using limited sensory abilities and actuation energies. Understanding how vortical structures can be leveraged for energy-efficient navigation in unsteady flows is beneficial in…
Unmanned Aerial Vehicles (UAVs) have revolutionized inspection tasks by offering a safer, more efficient, and flexible alternative to traditional methods. However, battery limitations often constrain their effectiveness, necessitating the…
The AUV three-dimension path planning in complex turbulent underwater environment is investigated in this research, in which static current map data and uncertain static-moving time variant obstacles are taken into account. Robustness of…
Multi-robot collaboration has become a needed component in unknown environment exploration due to its ability to accomplish various challenging situations. Potential-field-based methods are widely used for autonomous exploration because of…
Expansion of today's underwater scenarios and missions necessitates the requestion for robust decision making of the Autonomous Underwater Vehicle (AUV); hence, design an efficient decision making framework is essential for maximizing the…
The autonomous exploration of environments by multi-robot systems is a critical task with broad applications in rescue missions, exploration endeavors, and beyond. Current approaches often rely on either greedy frontier selection or…
This paper presents a mission system and the therein implemented algorithms for path planning in a time-varying environment based on graph methods. The basic task of the introduced path planning algorithms is to find a time-optimal path…
This paper proposes a framework for 3D obstacle avoidance in the presence of partial observability of environment obstacles. The method focuses on the utility of the Artificial Potential Function (APF) controller in a practical setting…
Underwater robot interventions require a high level of safety and reliability. A major challenge to address is a robust and accurate acquisition of localization estimates, as it is a prerequisite to enable more complex tasks, e.g. floating…