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

In this paper, we study the trajectory and resource optimization for lightweight rotary-wing unmanned aerial vehicles (UAVs) equipped with a synthetic aperture radar (SAR) system. The UAV's mission is to perform SAR imaging of a given area…

In this paper, the effective use of multiple quadrotor drones as an aerial antenna array that provides wireless service to ground users is investigated. In particular, under the goal of minimizing the airborne service time needed for…

In unmanned aerial vehicle (UAV) applications, the UAV's limited energy supply and storage have triggered the development of intelligent energy-conserving scheduling solutions. In this paper, we investigate energy minimization for UAV-aided…

This paper studies high-speed online planning in dynamic environments. The problem requires finding time-optimal trajectories that conform to system dynamics, meeting computational constraints for real-time adaptation, and accounting for…

Providing smooth reference trajectories can effectively increase performance and accuracy of tracking control applications while overshoot and unwanted vibrations are reduced. Trajectory planning computations can often be simplified…

Minimum-time navigation within constrained and dynamic environments is of special relevance in robotics. Seeking time-optimality, while guaranteeing the integrity of time-varying spatial bounds, is an appealing trade-off for agile vehicles,…

Autonomous drone swarms are a burgeoning technology with significant applications in the field of mapping, inspection, transportation and monitoring. To complete a task, each drone has to accomplish a sub-goal within the context of the…

Drones equipped with cameras are emerging as a powerful tool for large-scale aerial 3D scanning, but existing automatic flight planners do not exploit all available information about the scene, and can therefore produce inaccurate and…

The growing demand for drone navigation in urban and restricted airspaces requires real-time path planning that is both safe and scalable. Classical methods often struggle with the computational load of high-dimensional optimization under…

UAV trajectory planning is often done in a two-step approach, where a low-dimensional path is refined to a dynamic trajectory. The resulting trajectories are only locally optimal, however. On the other hand, direct planning in…

It is a significant requirement for a quadrotor trajectory planner to simultaneously guarantee trajectory quality and system lightweight. Many researchers focus on this problem, but there's still a gap between their performance and our…

This paper investigates a hybrid compositional approach to optimal mission planning for multi-rotor Unmanned Aerial Vehicles (UAVs). We consider a time critical search and rescue scenario with two quadrotors in a constrained environment.…

The traditional multicopter design method usually requires a long iterative process to find the optimal design based on given performance requirements. The method is uneconomical and inefficient. In this paper, a practical method is…

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…

We investigate the problem of efficiently computing optimal transport (OT) distances, which is equivalent to the node-capacitated minimum cost maximum flow problem in a bipartite graph. We compare runtimes in computing OT distances on data…

In many unmanned aerial vehicle (UAV) applications for surveillance and data collection, it is not possible to reach all requested locations due to the given maximum flight time. Hence, the requested locations must be prioritized and the…

This paper studies real-time motion planning and control for ball bumping motion with quadruped robots. To enable the quadruped to bump the flying ball with different initializations, we develop a nonlinear trajectory optimization-based…

We consider a natural generalization of classical scheduling problems in which using a time unit for processing a job causes some time-dependent cost which must be paid in addition to the standard scheduling cost. We study the scheduling…

Unmanned aerial vehicles (UAVs), commonly known as drones, are being increasingly deployed throughout the globe as a means to streamline monitoring, inspection, mapping, and logistic routines. When dispatched on autonomous missions, drones…

This paper presents the development and evaluation of an optimization-based autonomous trajectory planning algorithm for the asteroid reconnaissance phase of a deep-space exploration mission. The reconnaissance phase is a low-altitude flyby…