相关论文: Mission Planning on Autonomous Avoidance for Space…
Expansion of today's underwater scenarios and missions necessitates the requestion for robust decision making of the Autonomous Underwater Vehicle (AUV); hence, design an efficient decision making framework is essential for maximizing the…
This paper presents a comprehensive overview of exploration strategies utilized in both 2D and 3D environments, focusing on autonomous multi-robot systems designed for building exploration and fire detection. We explore the limitations of…
There is an increasing demand for piloted autonomous underwater vehicles (AUVs) to operate in polar ice conditions. At present, AUVs are deployed from ships and directly human-piloted in these regions, entailing a high carbon cost and…
The exponential increase in orbital debris and active satellites will lead to congested orbits, necessitating more frequent collision avoidance maneuvers by satellites. To minimize fuel consumption while ensuring the safety of satellites,…
This paper develops a flexibility management framework for space logistics mission planning under uncertainty through decision rules and multi-stage stochastic programming. It aims to add built-in flexibility to space architectures in the…
Motion planning for urban environments with numerous moving agents can be viewed as a combinatorial problem. With passing an obstacle before, after, right or left, there are multiple options an autonomous vehicle could choose to execute.…
An important capability of autonomous multi-robot systems is to prevent collision among the individual robots. One approach to this problem is to plan conflict-free trajectories and let each of the robots follow its pre-planned trajectory.…
In this paper, we consider the problem of minimum-time optimal control for a dynamical system with initial state uncertainties and propose a sequential convex programming (SCP) solution framework. We seek to minimize the expected terminal…
In this work, we consider the problem of decentralized multi-robot target tracking and obstacle avoidance in dynamic environments. Each robot executes a local motion planning algorithm which is based on model predictive control (MPC). The…
With advancements in technology, commercial aircraft formation flying is becoming increasingly feasible as an efficient and environmentally friendly flight method. However, gaps remain in practical implementation, particularly in collision…
The unmanned aerial vehicles (UAVs) are efficient tools for diverse tasks such as electronic reconnaissance, agricultural operations and disaster relief. In the complex three-dimensional (3D) environments, the path planning with obstacle…
A chaser satellite equipped with robotic arms can capture space debris and manipulate it for use in more advanced missions such as refueling and deorbiting. To facilitate capturing, a caging-based strategy has been proposed to simplify the…
This paper presents a method for robotic monitoring missions in the presence of moving obstacles. Although the scenario map is known, the robot lacks information about the movement of dynamic obstacles during the monitoring mission.…
Obstacle avoidance is an important task in the field of robotics, since the goal of autonomous robot is to reach the destination without collision. Several algorithms have been proposed for obstacle avoidance, having drawbacks and benefits.…
Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant…
In this paper, a novel closed-loop control framework for autonomous obstacle avoidance on a curve road is presented. The proposed framework provides two main functionalities; (i) collision free trajectory planning using MPC and (ii) a…
This work presents a sequential convex program method to compute fuel-optimal collision avoidance maneuvers for long-term encounters. The low-thrust acceleration model is used to account for the control, but the method can compute…
Temporal logic task planning for robotic systems suffers from state explosion when specifications involve large numbers of discrete locations. We provide a novel approach, particularly suited for tasks specifications with universally…
This paper addresses the motion planning problem for a team of aerial agents under high level goals. We propose a hybrid control strategy that guarantees the accomplishment of each agent's local goal specification, which is given as a…
We introduce a decentralized and online path planning technique for a network of unmanned aerial vehicles (UAVs) in the presence of weather disturbances. In our problem setting, the group of UAVs are required to collaboratively visit a set…