相关论文: Sampling-Based Hierarchical Trajectory Planning fo…
Trajectory planning is a critical component in ensuring the safety, stability, and efficiency of autonomous vehicles. While existing trajectory planning methods have achieved progress, they often suffer from high computational costs,…
This paper presents a novel information-based mission planner for a drone tasked to monitor a spatially distributed dynamical phenomenon. For the sake of simplicity, the area to be monitored is discretized. The insight behind the proposed…
This paper studies the path design problem for cellular-connected unmanned aerial vehicle (UAV), which aims to minimize its mission completion time while maintaining good connectivity with the cellular network. We first argue that the…
This paper presents a learning-augmented trajectory planning framework for cooperative unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) handover missions. While centralized trajectory optimization ensures dynamic feasibility…
We consider a scenario where an UAV-mounted flying base station is providing data communication services to a number of radio nodes spread over the ground. We focus on the problem of resource-constrained UAV trajectory design with (i)…
Unmanned surface vessels (USVs) are widely used in ocean exploration and environmental protection fields. To ensure that USV can successfully perform its mission, trajectory planning and motion tracking are the two most critical…
Efficient real-time trajectory planning and control for fixed-wing unmanned aerial vehicles is challenging due to their non-holonomic nature, complex dynamics, and the additional uncertainties introduced by unknown aerodynamic effects. In…
Demand for fast and economical parcel deliveries in urban environments has risen considerably in recent years. A framework envisions efficient last-mile delivery in urban environments by leveraging a network of ride-sharing vehicles, where…
The success of surveillance applications involving small unmanned aerial vehicles (UAVs) depends on how long the limited on-board power would persist. To cope with this challenge, alternative renewable sources of lift are sought. One…
Planning and control for autonomous vehicles usually are hierarchical separated. However, increasing performance demands and operating in highly dynamic environments requires an frequent re-evaluation of the planning and tight integration…
Deep learning-based models, such as recurrent neural networks (RNNs), have been applied to various sequence learning tasks with great success. Following this, these models are increasingly replacing classic approaches in object tracking…
Cellular-connected unmanned aerial vehicles (UAVs) have gained increasing attention due to their potential to enhance conventional UAV capabilities by leveraging existing cellular infrastructure for reliable communications between UAVs and…
Unmanned aerial vehicle (UAV)-based networks and Internet of Things (IoT) are being considered as integral components of current and next-generation wireless networks. In particular, UAVs can provide IoT devices with seamless connectivity…
Unmanned aerial vehicles (UAVs) can enhance the performance of cellular networks, due to their high mobility and efficient deployment. In this paper, we present a first study on how the user mobility affects the UAVs' trajectories of a…
Formation maintenance with varying number of drones in narrow environments hinders the convergence of planning to the desired configurations. To address this challenge, this paper proposes a formation planning method guided by Deformable…
Path planning for autonomous vehicles in arbitrary environments requires a guarantee of safety, but this can be impractical to ensure in real-time when the vehicle is described with a high-fidelity model. To address this problem, this paper…
This paper presents a method for online trajectory planning in known environments. The proposed algorithm is a fusion of sampling-based techniques and model-based optimization via quadratic programming. The former is used to efficiently…
A flexible topological representation consisting of a two-layer graph structure built on-board an Unmanned Aerial Vehicle (UAV) by continuously filling the free space of an occupancy map with intersecting spheres is proposed in this…
Multi-view Synthetic Aperture Radar (SAR) imaging can effectively enhance the performance of tasks such as automatic target recognition and image information fusion. Unmanned aerial vehicles (UAVs) have the advantages of flexible deployment…
Unlike squared (or alike) quadrotors, elongated bi-copters leverage natural superiority in crossing tight spaces. To date, extensive works have focused on the design, modeling, and control of bi-copters. Besides, a proper motion planner…