相关论文: UAV Trajectory Planning with Path Processing

This letter proposes a neural network (NN) aided remote unmanned aerial vehicle (UAV) online control algorithm, coined oHJB. By downloading a UAV's state, a base station (BS) trains an HJB NN that solves the Hamilton-Jacobi-Bellman equation…

Model Predictive Control (MPC) has exhibited remarkable capabilities in optimizing objectives and meeting constraints. However, the substantial computational burden associated with solving the Optimal Control Problem (OCP) at each…

This paper studies the trajectory optimization problem in a scenario where a single rotary-wing UAV acts as a relay of data payloads for downlink transmission requests generated randomly by two ground nodes (GNs) in a wireless network. The…

This paper presents a novel and feasible path planning technique for a group of unmanned aerial vehicles (UAVs) conducting surface inspection of infrastructure. The ultimate goal is to minimise the travel distance of UAVs while…

The robotics community is increasingly interested in autonomous aerial transportation. Unmanned aerial vehicles with suspended payloads have advantages over other systems, including mechanical simplicity and agility, but pose great…

Agile trajectory planning can improve the efficiency of multi-rotor Uncrewed Aerial Vehicles (UAVs) in scenarios with combined task-oriented and kinematic trajectory planning, such as monitoring spatio-temporal phenomena or intercepting…

This paper presents a method for aerial manipulator end-effector trajectory tracking by encompassing dynamics of the Unmanned Aerial Vehicle (UAV) and null space of the manipulator attached to it in the motion planning procedure. The…

In this work we consider the multi-agent motion planning (MAMP) problem with the constraint that agents arrive at their respective goals at the same time. For the special case where all agents are initially at rest we propose a two-step…

Post-disaster situations pose unique navigation challenges. One of those challenges is the unstructured nature of the environment, which makes it hard to layout paths for rescue vehicles. We propose the use of Uncrewed Aerial Vehicle (UAV)…

We propose a novel probabilistically robust controller for the guidance of an unmanned aerial vehicle (UAV) in coverage planning missions, which can simultaneously optimize both the UAV's motion, and camera control inputs for the 3D…

We investigate the Optimal Obstacle Placement (OOP) problem under uncertainty, framed as the dual of the Optimal Traversal Path problem in the Stochastic Obstacle Scene paradigm. We consider both continuous domains, discretized for…

This paper addresses the three-dimensional path-following guidance problem for unmanned aerial vehicles under explicit actuator constraints. Unlike conventional approaches that assume unbounded control inputs or handle saturation…

In this paper, we investigate the problem of coordinated path following for fixed-wing UAVs with speed constraints in 2D plane. The objective is to steer a fleet of UAVs along the path(s) while achieving the desired sequenced inter-UAV arc…

Unmanned Aerial Vehicles (UAVs) in Wireless Power Transfer (WPT)-assisted Internet of Things (IoT) systems face the following challenges: limited resources and suboptimal trajectory planning. Reinforcement learning-based trajectory planning…

In interactions between automated vehicles (AVs) and crossing pedestrians, modeling implicit vehicle communication is crucial. In this work, we present a combined prediction and planning approach that allows to consider the influence of the…

This work presents proximally optimal predictive control algorithm, which is essentially a model-based lateral controller for steered autonomous vehicles that selects an optimal steering command within the neighborhood of previous steering…

Generating time-optimal, collision-free trajectories for autonomous mobile robots involves a fundamental trade-off between guaranteeing safety and managing computational complexity. State-of-the-art approaches formulate spline-based motion…

In this work, we propose a method to efficiently compute smooth, time-optimal trajectories for micro aerial vehicles (MAVs) evading a moving obstacle. Our approach first computes an n-dimensional trajectory from the start- to an arbitrary…

Efficient data collection methods play a major role in helping us better understand the Earth and its ecosystems. In many applications, the usage of unmanned aerial vehicles (UAVs) for monitoring and remote sensing is rapidly gaining…

This paper introduces a new path planning algorithm for unmanned aerial vehicles (UAVs) based on the teaching-learning-based optimization (TLBO) technique. We first define an objective function that incorporates requirements on the path…