相关论文: Mixed-Integer Linear Programming Model for Collisi…

This paper systematically studies the cooperative area coverage and target tracking problem of multiple-unmanned aerial vehicles (multi-UAVs). The problem is solved by decomposing into three sub-problems: information fusion, task…

The threats on cyber-physical system have changed much into a level of sophistication that elude the traditional security and protection methods. This work addresses a proactive approaches to the cyber security of a formation flying UAVs. A…

Collision avoidance can be checked in explicit environment models such as elevation maps or occupancy grids, yet integrating such models with a locomotion policy requires accurate state estimation. In this work, we consider the question of…

Urban Air Mobility, the scenario where hundreds of manned and Unmanned Aircraft System (UAS) carry out a wide variety of missions (e.g. moving humans and goods within the city), is gaining acceptance as a transportation solution of the…

Safety is a core challenge of autonomous robot motion planning, especially in the presence of dynamic and uncertain obstacles. Many recent results use learning and deep learning-based motion planners and prediction modules to predict…

With the rapidly growing interest in autonomous navigation, the body of research on motion planning and collision avoidance techniques has enjoyed an accelerating rate of novel proposals and developments. However, the complexity of new…

Massive multiple-input multiple-output (MIMO) communication is a promising technology for increasing spectral efficiency in wireless networks. Two of the main challenges massive MIMO systems face are degraded channel estimation accuracy due…

This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…

Recently, many reactive trajectory planning approaches were suggested in the literature because of their inherent immediate adaption in the ever more demanding cluttered and unpredictable environments of robotic systems. However, typically…

This paper presents a decentralized safety filter for collision avoidance in multi-agent aerospace interception scenarios. The approach leverages robust control barrier functions (RCBFs) to guarantee forward invariance of safety sets under…

This paper studies collective motion optimization of a fleet of UAVs flying over a populated and geometrically constrained area. The paper treats UAVs as particles of a deformable body, thus, UAV coordination is defined by a homeomorphic…

This paper presents an approach to mutual collision avoidance based on Nonlinear Model Predictive Control (NMPC) with time-dependent Reciprocal Velocity Constraints (RVCs). Unlike most existing methods, the proposed approach relies solely…

In this report, we propose a decentralised motion control algorithm for the mobile robots to intercept an intruder entering (k-intercepting) or escaping (e-intercepting) a protected region. In continuation, we propose a decentralized…

This paper focuses on the problem of collaborative collision avoidance for autonomous inland ships. Two solutions are provided to solve the problem in a distributed manner. We first present a distributed model predictive control (MPC)…

This paper proposes a novel methodology for trajectory planning in autonomous vehicles (AVs), addressing the complex challenge of negotiating speed bumps within a unified Mixed-Integer Quadratic Programming (MIQP) framework. By leveraging…

There is a risk of collision when multiple UAVs land simultaneously without communication on the same platform. This work accomplishes vision-based autonomous landing and uses a deep-learning-based method to realize collision avoidance…

Research on crowd simulation has important and wide range of applications. The main difficulty is how to lead all particles with a same and simple rule, especially when particles are numerous. In this paper, we firstly propose a two…

Predicting and simulating aerodynamic fields for civil aircraft over wide flight envelopes represent a real challenge mainly due to significant numerical costs and complex flows. Surrogate models and reduced-order models help to estimate…

In this article we propose a distributed collision avoidance scheme for multi-agent unmanned aerial vehicles(UAVs) based on nonlinear model predictive control (NMPC),where other agents in the system are considered as dynamic obstacles with…

Formation and collision avoidance abilities are essential for multi-agent systems. Conventional methods usually require a central controller and global information to achieve collaboration, which is impractical in an unknown environment. In…