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

Urban Air Mobility (UAM) has the potential to revolutionize daily transportation, offering rapid and efficient aerial mobility services. Take-off and merging phases are critical for air corridor operations, requiring the coordination of…

Traffic collision avoidance systems (TCAS) are used in order to avoid incidences of mid-air collisions between aircraft. We present a game-theoretic approach of a TCAS designed for autonomous unmanned aerial vehicles (UAVs). A variant of…

Ensuring safe and efficient operation of collaborative robots in human environments is challenging, especially in dynamic settings where both obstacle motion and tasks change over time. Current robot controllers typically assume full…

An analytical formulation for collision avoidance maneuvers involving a spacecraft and a space debris is presented, including solutions for the maximum deviation and minimum collision probability cases. Gauss' planetary equations and…

The focus of this work is to present a novel methodology for optimal distribution of a swarm formation on either side of an obstacle, when evading the obstacle, to avoid overpopulation on the sides to reduce the agents' waiting delays,…

This article proposes a novel Nonlinear Model Predictive Control (NMPC) framework for Micro Aerial Vehicle (MAV) autonomous navigation in constrained environments. The introduced framework allows us to consider the nonlinear dynamics of…

Although aviation accidents are rare, safety incidents occur more frequently and require a careful analysis to detect and mitigate risks in a timely manner. Analyzing safety incidents using operational data and producing event-based…

Unmanned aerial vehicles (UAVs)-enabled aerial communication provides a flexible, reliable, and cost-effective solution for a range of wireless applications. However, due to the high line-of-sight (LoS) probability, aerial communications…

Collision avoidance is a problem largely studied in robotics, particularly in unmanned aerial vehicle (UAV) applications. Among the main challenges in this area are hardware limitations, the need for rapid response, and the uncertainty…

Building a reliable and efficient collision avoidance system for unmanned aerial vehicles (UAVs) is still a challenging problem. This research takes inspiration from locusts, which can fly in dense swarms for hundreds of miles without…

The anticipated launch of fully autonomous vehicles presents an opportunity to develop and implement novel traffic management systems. Intersections are one of the bottlenecks for urban traffic, and thus offer tremendous potential for…

Search-based motion planning algorithms have been widely utilized for unmanned aerial vehicles (UAVs). However, deploying these algorithms on real UAVs faces challenges due to limited onboard computational resources. The algorithms struggle…

This work focuses on low-energy collision avoidance and formation maintenance in autonomous swarms of drones. Here, the two main problems are: 1) how to avoid collisions by temporarily breaking the formation, i.e., collision avoidance…

In this paper, we present the application of a recently developed algorithm for Bayesian multi-objective optimization to the design of a commercial aircraft environment control system (ECS). In our model, the ECS is composed of two…

This paper explores the application of Artificial Intelligence (AI) techniques for generating the trajectories of fleets of Unmanned Aerial Vehicles (UAVs). The two main challenges addressed include accurately predicting the paths of UAVs…

A control optimization approach is presented for a chaser spacecraft tasked with maintaining proximity to a target space object while avoiding collisions. The target object trajectory is provided numerically to account for both passive…

Trajectory planning in dense, interactive traffic scenarios presents significant challenges for autonomous vehicles, primarily due to the uncertainty of human driver behavior and the non-convex nature of collision avoidance constraints.…

In this paper, a unified multi-vehicle formation control framework for Intelligent and Connected Vehicles (ICVs) that can apply to multiple traffic scenarios is proposed. In the one-dimensional scenario, different formation geometries are…

UAV swarms have triggered wide concern due to their potential application values in recent years. While there are studies proposed in terms of the architecture design for UAV swarms, two main challenges still exist: (1) Scalability,…

This paper presents a feasibility-enhanced control barrier function (FECBF) framework for multi-UAV collision avoidance. In dense multi-UAV scenarios, the feasibility of the CBF quadratic program (CBF-QP) can be compromised due to internal…