相关论文: Avoiding Deadlocks Is Not Enough: Analysis and Res…

Motion planning and control are two core components of the robotic systems autonomy stack. The standard approach to combine these methodologies comprises an offline/open-loop stage, planning, that designs a feasible and safe trajectory to…

Teams of UGVs patrolling harsh and complex 3D environments can experience interference and spatial conflicts with one another. Neglecting the occurrence of these events crucially hinders both soundness and reliability of a patrolling…

Path planning in the multi-robot system refers to calculating a set of actions for each robot, which will move each robot to its goal without conflicting with other robots. Lately, the research topic has received significant attention for…

This paper discusses the effect of sequential conflict resolution maneuvers of an infinite aircraft flow through a finite control volume. Aircraft flow models are utilized to simulate traffic flows and determine stability. Pseudo-random…

Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…

Previous work has shown that there are two major complexity barriers in the synthesis of fault-tolerant distributed programs: (1) generation of fault-span, the set of states reachable in the presence of faults, and (2) resolving deadlock…

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.…

Airplane refueling problem is a nonlinear unconstrained optimization problem with $n!$ feasible solutions. Given a fleet of $n$ airplanes with mid-air refueling technique, the question is to find the best refueling policy to make the last…

This paper investigates the robust nonlinear close formation control problem. It aims to achieve precise position control at dynamic flight operation for a follower aircraft under the aerodynamic impact due to the trailing vortices…

Among fundamental problems in the context of distributed computing by autonomous mobile entities, one of the most representative and well studied is {\sc Point Convergence}: given an arbitrary initial configuration of identical entities,…

How can a stack of identical blocks be arranged to extend beyond the edge of a table as far as possible? We consider a generalization of this classic puzzle to blocks that differ in width and mass. Despite the seemingly simple premise, we…

This paper studies the traffic monitoring problem in a road network using a team of aerial robots. The problem is challenging due to two main reasons. First, the traffic events are stochastic, both temporally and spatially. Second, the…

The introduction of new technologies and concepts of operation in the air transportation system is not possible, unless they can be proven not to adversely affect the system operation under not only nominal, but also degraded conditions. In…

The aviation industry has experienced constant growth in air traffic since the deregulation of the U.S. airline industry in 1978. As a result, flight delays have become a major concern for airlines and passengers, leading to significant…

This paper examines the problem of introducing advanced forms of fault-tolerance via reconfiguration into safety-critical avionic systems. This is required to enable increased availability after fault occurrence in distributed integrated…

A reciprocal dance occurs when two mobile agents attempt to pass each other but incompatible interaction models result in repeated attempts to take mutually blocking actions. Often, such a situation simply results in deadlock. But in…

Detect-And-Avoid (DAA) algorithms for unmanned air vehicles have industry standards called Minimum Operational Performance Standards (MOPS), establishing criteria to check whether they can ensure safe separation for all plausible…

This paper presents a novel hybrid control protocol for de-conflicting multiple vehicles with constraints on control inputs. We consider turning rate and linear speed constraints to represent fixed-wing or car-like vehicles. A set of…

We investigate the potential impact of communication and human performance uncertainties on runway operations. Specifically, we consider these impacts within the context of an arrival scenario with two converging flows: a straight-in…

This paper investigates the mission planning problem for spacecraft confronting orbital debris to achieve autonomous avoidance. Firstly, combined with the avoidance requirements, a closed-loop framework of autonomous avoidance for orbital…