相关论文: Effective Underwater Glider Path Planning in Dynam…

Intelligent mobile sensors, such as uninhabited aerial or underwater vehicles, are becoming prevalent in environmental sensing and monitoring applications. These active sensing platforms operate in unsteady fluid flows, including windy…

Deploying self-navigating surface vessels in inland waterways offers a sustainable alternative to reduce road traffic congestion and emissions. However, navigating confined waterways presents unique challenges, including narrow channels,…

A tethered marsupial robotics system comprises three components: an Unmanned Ground Vehicle (UGV), an Unmanned Aerial Vehicle (UAV), and a tether connecting both robots. Marsupial systems are highly beneficial in industry as they extend the…

In the next years, the energy and intensity frontiers of the experimental Particle Physics will be pushed forward with the upgrade of existing accelerators (LHC at CERN) and the envisaged construction of new machines at energy scales up to…

Object navigation in multi-floor environments presents a formidable challenge in robotics, requiring sophisticated spatial reasoning and adaptive exploration strategies. Traditional approaches have primarily focused on single-floor…

This article proposes an approach for collision avoidance, path following, and anti-grounding of autonomous surface vessels under consideration of environmental forces based on Nonlinear Model Predictive Control (NMPC). Artificial Potential…

Nowadays, unmanned aerial vehicles (UAVs) are increasingly utilized in search and rescue missions, a trend driven by technological advancements, including enhancements in automation, avionics, and the reduced cost of electronics. In this…

Consider an unmanned aerial vehicle (UAV) that searches for an unknown number of targets at unknown positions in 3D space. A particle filter uses imperfect measurements about the targets to update an intensity function that represents the…

Multi-Agent Path Finding (MAPF) is a fundamental motion coordination problem arising in multi-agent systems with a wide range of applications. The problem's intractability has led to extensive research on improving the scalability of…

Off-road environments present unique challenges for autonomous navigation due to their complex and unstructured nature. Traditional global path-planning methods, which typically aim to minimize path length and travel time, perform poorly on…

Unmanned ground vehicles (UGVs) are being used extensively in civilian and military applications for applications such as underground mining, nuclear plant operations, planetary exploration, intelligence, surveillance and reconnaissance…

Providing a higher level of decision autonomy and accompanying prompt changes of an uncertain environment is a true challenge of AUVs autonomous operations. The proceeding approach introduces a robust reactive structure that accommodates an…

Multi-robot navigation and path planning in continuous state and action spaces with uncertain environments remains an open challenge. Deep Reinforcement Learning (RL) is one of the most popular paradigms for solving this task, but its…

In this letter, we introduce Geometric Model Predictive Path Integral (GMPPI), a sampling-based controller capable of tracking agile trajectories while avoiding obstacles. In each iteration, GMPPI generates a large number of candidate…

We present an active mapping system that plans for both long-horizon exploration goals and short-term actions using a 3D Gaussian Splatting (3DGS) representation. Existing methods either do not take advantage of recent developments in…

Accurate prediction of flow fields around underwater vehicles undergoing vertical-plane oblique motions is critical for hydrodynamic analysis, but it often requires computationally expensive CFD simulations. This study proposes a…

This paper presents an integrated path planning and tracking control of marine hydrokinetic energy harvesting devices. To address the highly nonlinear and uncertain oceanic environment, the path planner is designed based on a reinforcement…

Navigating unmanned aerial vehicles (UAVs) through cluttered and dynamic environments remains a significant challenge, particularly when dealing with fast-moving or sudden-appearing obstacles. This paper introduces a complete LiDAR-based…

Quadrotor navigation in unknown environments is critical for practical missions such as search-and-rescue. Solving this problem requires addressing three key challenges: path planning in non-convex free space due to obstacles, satisfying…

The growing use of mobile robots in sectors such as automotive, agriculture, and rescue operations reflects progress in robotics and autonomy. In unmanned aerial vehicles (UAVs), most research emphasizes visual SLAM, sensor fusion, and path…