相关论文: Time-Optimal Planning for Long-Range Quadrotor Fli…

In this paper, we present a motion planning strategy for UAVs that generates a time-optimal trajectory to survey a given target area. There are several situations where completing an aerial survey is time sensitive, such as gaining…

The problem of high-dimensional path-dependent optimal stopping (OS) is important to multiple academic communities and applications. Modern OS tasks often have a large number of decision epochs, and complicated non-Markovian dynamics,…

Autonomous agile flight brings up fundamental challenges in robotics, such as coping with unreliable state estimation, reacting optimally to dynamically changing environments, and coupling perception and action in real time under severe…

Learning-based controllers have achieved impressive performance in agile quadrotor flight but typically rely on massive training in simulation, necessitating accurate system identification for effective Sim2Real transfer. However, even with…

This paper presents a scalable online algorithm to generate safe and kinematically feasible trajectories for quadrotor swarms. Existing approaches rely on linearizing Euclidean distance-based collision constraints and on axis-wise…

Path planning is a major problem in autonomous vehicles. In recent years, with the increase in applications of Unmanned Aerial Vehicles (UAVs), one of the main challenges is path planning, particularly in adversarial environments. In this…

Sums-of-squares (SOS) optimization is a promising tool to synthesize certifiable controllers for nonlinear dynamical systems. Building upon prior works, we demonstrate that SOS can synthesize dynamic controllers with bounded suboptimal…

This paper proposes Drone Squadron Optimization, a new self-adaptive metaheuristic for global numerical optimization which is updated online by a hyper-heuristic. DSO is an artifact-inspired technique, as opposed to many algorithms used…

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…

Quadrotor flight is an extremely challenging problem due to the limited control authority encountered at the limit of handling. Model Predictive Contouring Control (MPCC) has emerged as a promising model-based approach for time optimization…

Platooning connected and autonomous vehicles (CAVs) provide significant benefits in terms of traffic efficiency and fuel economy. However, most existing platooning systems assume the availability of pre-determined plans, which is not…

We tackle the problem of flying time-optimal trajectories through multiple waypoints with quadrotors. State-of-the-art solutions split the problem into a planning task - where a global, time-optimal trajectory is generated - and a control…

Solving optimal control problems (OCPs) of autonomous agents operating under spatial and temporal constraints fast and accurately is essential in applications ranging from eco-driving of autonomous vehicles to quadrotor navigation. However,…

It is often necessary for drones to complete delivery, photography, and rescue in the shortest time to increase efficiency. Many autonomous drone races provide platforms to pursue algorithms to finish races as quickly as possible for the…

Recent innovations in autonomous drones have facilitated time-optimal flight in single-drone configurations, and enhanced maneuverability in multi-drone systems by applying optimal control and learning-based methods. However, few studies…

We consider optimal route planning when the objective function is a general nonlinear and non-monotonic function. Such an objective models user behavior more accurately, for example, when a user is risk-averse, or the utility function needs…

Autonomous drones have gained considerable attention for applications in real-world scenarios, such as search and rescue, inspection, and delivery. As their use becomes ever more pervasive in civilian applications, failure to ensure safe…

Future unmanned aerial vehicles (drones) will be shared by multiple users and will have to operate in conditions where their fully-autonomous function is required. Calculation of a drones trajectory will be important but optimal…

Quadrotors are agile flying robots that are challenging to control. Considering the full dynamics of quadrotors during motion planning is crucial to achieving good solution quality and small tracking errors during flight. Optimization-based…

This paper addresses a UAV path planning task that seeks to observe a set of objects while satisfying the observation quality constraint. A dynamic programming algorithm is proposed that enables the UAV to observe the target objects with…