相关论文: Towards Efficient Motion Planning for UAVs: Lazy A…

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…

To prolong the lifetime of the unmanned aerial vehicles (UAVs), the UAVs need to fulfill their missions in the shortest possible time. In addition to this requirement, in many applications, the UAVs require a reliable internet connection…

Maintaining a map online is resource-consuming while a robust navigation system usually needs environment abstraction via a well-fused map. In this paper, we propose a mapless planner which directly conducts such abstraction on the unfused…

This letter addresses the problem of trajectory planning in a marsupial robotic system consisting of an unmanned aerial vehicle (UAV) linked to an unmanned ground vehicle (UGV) through a non-taut tether withcontrollable length. To the best…

This paper describes how advanced deep learning based computer vision algorithms are applied to enable real-time on-board sensor processing for small UAVs. Four use cases are considered: target detection, classification and localization,…

Fast, autonomous flight in unstructured, cluttered environments such as forests is challenging because it requires the robot to compute new plans in realtime on a computationally-constrained platform. In this paper, we enable this…

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…

Unmanned aerial vehicles (UAVs) have received plenty of attention due to their high flexibility and enhanced communication ability, nonetheless, the limited onboard energy restricts UAVs' application on persistent data collection missions…

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)…

In this paper, we propose a search-based interactive motion planning scheme for autonomous vehicles (AVs), using a game-theoretic approach. In contrast to traditional search-based approaches, the newly developed approach considers other…

An exciting frontier in robotic manipulation is the use of multiple arms at once. However, planning concurrent motions is a challenging task using current methods. The high-dimensional composite state space renders many well-known motion…

Over the last decade, developments in unmanned aerial vehicles (UAVs) has greatly increased, and they are being used in many fields including surveillance, crisis management or automated mission planning. This last field implies the search…

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…

Consider an unmanned aerial vehicle (UAV) that searches for an unknown number of targets at unknown positions in 3D space. A particle filter uses imperfect measurements about the targets to update an intensity function that represents the…

In this work, we introduce a new graph search algorithm, lazy edged based A* (LEA*), for robot motion planning. By using an edge queue and exploiting the idea of lazy search, LEA* is optimally vertex efficient similar to A*, and has…

With increasing urban population, there is global interest in Urban Air Mobility (UAM), where hundreds of autonomous Unmanned Aircraft Systems (UAS) execute missions in the airspace above cities. Unlike traditional human-in-the-loop air…

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…

Unmanned aerial vehicles (UAVs) have gained a lot of popularity in diverse wireless communication fields. They can act as high-altitude flying relays to support communications between ground nodes due to their ability to provide…

Recent advances in Unmanned Aerial Vehicles (UAVs) have resulted in their quick adoption for wide a range of civilian applications, including precision agriculture, biosecurity, disaster monitoring and surveillance. UAVs offer low-cost…

The paper considers the problem of planning a set of non-conflict trajectories for the coalition of intelligent agents (mobile robots). Two divergent approaches, e.g. centralized and decentralized, are surveyed and analyzed. Decentralized…