相关论文: Efficient variable-length hanging tether parameter…

UAVs are increasingly becoming vital tools in various wireless communication applications including internet of things (IoT) and sensor networks, thanks to their rapid and agile non-terrestrial mobility. Despite recent research, planning…

In this paper, we present a motion planning strategy for UAVs that generates a time-optimal trajectory to survey a given target area. There are several situations where completing an aerial survey is time sensitive, such as gaining…

In this paper, we propose a multi-unmanned aerial vehicle (UAV)-assisted integrated sensing, communication, and computation network. Specifically, the treble-functional UAVs are capable of offering communication and edge computing services…

This paper presents a novel theoretical framework for reducing the computational complexity of multi-model adaptive control/estimation systems through systematic transformation to controllable canonical form. While traditional multi-model…

We present a flexible family of 3D mobility models suitable for unmanned aerial vehicles (UAV). Based on stochastic differential equations, the models offer a unique property of explicitly incorporating the mobility control mechanism and…

With the impact of artificial intelligence on the traditional UAV industry, autonomous UAV flight has become a current hot research field. Based on the demand for research on critical technologies for autonomous flying UAVs, this paper…

This paper presents a method based on linear programming for trajectory planning of automated vehicles, combining obstacle avoidance, time scheduling for the reaching of waypoints and time-optimal traversal of tube-like road segments.…

This thesis presents the development of ARGUS, a framework for mission planning for Unmanned Ground Vehicles (UGVs) in tactical environments. The system is designed to translate battlefield complexity and the commander's intent into…

Today, low-altitude fixed-wing Unmanned Aerial Vehicles (UAVs) are largely limited to primitively follow user-defined waypoints. To allow fully-autonomous remote missions in complex environments, real-time environment-aware navigation is…

Thanks to their quick placement and high flexibility, unmanned aerial vehicles (UAVs) can be very useful in the current and future wireless communication systems. With a growing number of smart devices and infrastructure-free communication…

Aerial Vehicles follow a guided approach based on Latitude, Longitude and Altitude. This information can be used for calculating the status of maneuvering for the aerial vehicles along the line of trajectory. This is a binary classification…

This paper proposes an adaptive lattice-based motion planning solution to address the problem of generating feasible trajectories for systems, represented by a linearly parameterizable non-linear model operating within a cluttered…

In autonomous navigation, trajectory replanning, refinement, and control command generation are essential for effective motion planning. This paper presents a resilient approach to trajectory replanning addressing scenarios where the…

Efficient trajectory planning for urban intersections is currently one of the most challenging tasks for an Autonomous Vehicle (AV). Courteous behavior towards other traffic participants, the AV's comfort and its progression in the…

This paper presents a multi-step procedure to construct the dynamic motion model of an autonomous quadcopter, identify the model parameters, and design a model-based nonlinear trajectory tracking controller. The aim of the proposed method…

This paper introduces a generic filter-based state estimation framework that supports two state-decoupling strategies based on cross-covariance factorization. These strategies reduce the computational complexity and inherently support true…

Perching on structures such as trees, beams, and ledges is essential for extending the endurance of aerial robots by enabling energy conservation in standby or observation modes. A tethered tensile perching mechanism offers a simple,…

This paper presents real-time guidance strategies for unmanned aerial vehicles (UAVs) that can be used to enhance their flight endurance by utilizing {\sl insitu} measurements of wind speeds and wind gradients. In these strategies, periodic…

With UAVs promising capabilities to increase operation flexibility and reduce mission cost, we are exploiting the automated carrier-landing performance advancement that can be achieved by fixed-wing UAVs. To demonstrate such potentials, in…

Autonomous navigation in off-road environments remains a significant challenge in field robotics, particularly for Unmanned Ground Vehicles (UGVs) tasked with search and rescue, exploration, and surveillance. Effective long-range planning…