相关论文: How to Drawjectory? -- Trajectory Planning using P…

Efficient real-time trajectory planning and control for fixed-wing unmanned aerial vehicles is challenging due to their non-holonomic nature, complex dynamics, and the additional uncertainties introduced by unknown aerodynamic effects. In…

In complex engineered systems, completing an objective is sometimes not enough. The system must be able to reach a set performance characteristic, such as an unmanned aerial vehicle flying from point A to point B, \textit{under 10 seconds}.…

The flying speed of autonomous quadrotors has increased significantly over the past 5 years, particularly in the field of autonomous drone racing. However, most research primarily focuses on the aggressive flight of a single quadrotor,…

Motion trajectory planning is one crucial aspect for automated vehicles, as it governs the own future behavior in a dynamically changing environment. A good utilization of a vehicle's characteristics requires the consideration of the…

We present simple models of trajectories in space, both in 2D and in 3D. The first examples, which model bicircular moves in the same direction, are classical curves (epicycloids, etc.). Then, we explore bicircular moves in reverse…

We address one of the main challenges towards autonomous quadrotor flight in complex environments, which is flight through narrow gaps. While previous works relied on off-board localization systems or on accurate prior knowledge of the gap…

We present a method to reconstruct the 3D trajectory of an airborne robotic system only from videos recorded with cameras that are unsynchronized, may feature rolling shutter distortion, and whose viewpoints are unknown. Our approach…

This work proposes a jointly optimized trajectory generation and camera control approach, enabling an autonomous agent, such as an unmanned aerial vehicle (UAV) operating in 3D environments, to plan and execute coverage trajectories that…

This paper proposes several nonlinear control strategies for trajectory tracking of a quadcopter system based on the property of differential flatness. Its originality is twofold. Firstly, it provides a flat output for the quadcopter…

In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…

Drones are being used in many industries for a variety of applications, including inspecting bridges, surveying farm land, and delivering cargo. Automating these kinds of scenarios requires more than following a sequence of GPS waypoints;…

In this work, a novel, end-to-end motion planning method is proposed for quadrotor navigation in cluttered environments. The proposed method circumvents the explicit sensing-reconstructing-planning in contrast to conventional navigation…

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…

Path planning in the presence of dynamic obstacles is a challenging problem due to the added time dimension in search space. In approaches that ignore the time dimension and treat dynamic obstacles as static, frequent re-planning is…

Loss of thrust emergencies-e.g., induced by bird/drone strikes or fuel exhaustion-create the need for dynamic data-driven flight trajectory planning to advise pilots or control UAVs. While total loss of thrust trajectories to nearby…

Autonomous aerial cinematography has the potential to enable automatic capture of aesthetically pleasing videos without requiring human intervention, empowering individuals with the capability of high-end film studios. Current approaches…

Quadrotors hold significant promise for several applications such as agriculture, search and rescue, and infrastructure inspection. Achieving autonomous operation requires systems to navigate safely through complex and unfamiliar…

This paper considers a class of rotary-wing aerial robots with unaligned propellers. By studying the dynamics of these vehicles, we show that the position and heading angle remain flat outputs of the system (similar to conventional…

We present a method to reconstruct the three-dimensional trajectory of a moving instance of a known object category in monocular video data. We track the two-dimensional shape of objects on pixel level exploiting instance-aware semantic…

Non-prehensile object transportation offers a way to enhance robotic performance in object manipulation tasks, especially with unstable objects. Effective trajectory planning requires simultaneous consideration of robot motion constraints…