相关论文: Constraint-Driven Multi-USV Coverage Path Generati…

Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…

Battery-hybrid power source architectures can reduce fuel consumption and emissions for ships with diverse operation profiles. However, conventional control strategies may fail to improve performance if the future operation profile is…

Environmental monitoring of marine environments presents several challenges: the harshness of the environment, the often remote location, and most importantly, the vast area it covers. Manual operations are time consuming, often dangerous,…

The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…

We present a multi-modal trajectory generation and selection algorithm for real-world mapless outdoor navigation in human-centered environments. Such environments contain rich features like crosswalks, grass, and curbs, which are easily…

As mobile robots find increasing use in outdoor applications, designing energy-efficient robot navigation algorithms is gaining importance. There are two primary approaches to energy efficient navigation: Offline approaches rely on a…

Unmanned Aerial Vehicles (UAVs) represent a new frontier in a wide range of monitoring and research applications. To fully leverage their potential, a key challenge is planning missions for efficient data acquisition in complex…

Unmanned Aerial Vehicles (UAVs) have attracted great interest in the last few years owing to their ability to cover large areas and access difficult and hazardous target zones, which is not the case of traditional systems relying on direct…

Autonomous Underwater Vehicle-Manipulator systems (AUVMS) is a new tool for ocean exploration, the AUVMS path planning problem is addressed in this paper. AUVMS is a high dimension system with a large difference in inertia distribution,…

We present a distributed model predictive control (DMPC) algorithm to generate trajectories in real-time for multiple robots. We adopted the \textit{on-demand collision avoidance} method presented in previous work to efficiently compute…

Path Planning methods for autonomous control of Unmanned Aerial Vehicle (UAV) swarms are on the rise because of all the advantages they bring. There are more and more scenarios where autonomous control of multiple UAVs is required. Most of…

Unmanned aerial vehicles (UAVs) are a convenient choice for carrying mobile base stations to rapidly setup communication services for ground users. Unlike terrestrial networks, UAVs do not have fiber optic back-haul connectivity except when…

In this paper we address the mine countermeasures (MCM) search problem for an autonomous underwater vehicle (AUV) surveying the seabed using a side-looking sonar. We propose a coverage path planning method that adapts the AUV track spacing…

We study the problem of covering an environment using an Unmanned Aerial Vehicle (UAV) with limited battery capacity. We consider a scenario where the UAV can land on an Unmanned Ground Vehicle (UGV) and recharge the onboard battery. The…

The performance of a guidance, navigation and control (GNC) system of an autonomous underwater vehicle (AUV) heavily depends on the correct tuning of its parameters. Our objective is to automatically tune these parameters with respect to…

Nowadays, unmanned aerial vehicles (UAVs) are increasingly utilized in search and rescue missions, a trend driven by technological advancements, including enhancements in automation, avionics, and the reduced cost of electronics. In this…

The paper presents a path planning algorithm based on RRT* that addresses the risk of grounding during evasive manoeuvres to avoid collision. The planner achieves this objective by integrating a collective navigation experience with the…

To deal with the task assignment problem of multi-AUV systems under kinematic constraints, which means steering capability constraints for underactuated AUVs or other vehicles likely, an improved task assignment algorithm is proposed…

Unmanned Surface Vessels (USVs) face significant control challenges due to uncertain environmental disturbances like waves and currents. This paper proposes a trajectory tracking controller based on Active Disturbance Rejection Control…

Motion control of underwater robotic vehicles is a demanding task with great challenges imposed by external disturbances, model uncertainties and constraints of the operating workspace. Thus, robust motion control is still an open issue for…