相关论文: STORM: Spatial-Temporal Iterative Optimization for…

Motion planning is an essential process for the navigation of unmanned aerial vehicles (UAVs) where they need to adapt to obstacles and different structures of their operating environment to reach the goal. This paper presents an optimal…

Grassland restoration is a critical means to safeguard grassland ecological degradation. To alleviate the extensive human labors and boost the restoration efficiency, UAV is promising for its fully automatic capability yet still waits to be…

A redundant manipulator has multiple inverse kinematics solutions per end-effector pose. Accordingly, there can be many trajectories for joints that follow a given endeffector path in the Cartesian space. In this paper, we present a…

High-speed obstacle avoidance of uncrewed aerial vehicles (UAVs) in cluttered environments is a significant challenge. Existing UAV planning and obstacle avoidance systems can only fly at moderate speeds or at high speeds over empty or…

For quadrotors, achieving safe and autonomous flight in complex environments with wind disturbances and dynamic obstacles still faces significant challenges. Most existing methods address wind disturbances in either trajectory planning or…

Vertical take-off and landing (VTOL) aircraft pose a challenge in generating reference commands during transition flight. While sparsity between hover and cruise flight modes can be promoted for effective transitions by formulating…

This work details a scalable framework to orchestrate a swarm of rotary-wing UAVs serving as cellular relays to facilitate beyond line-of-sight connectivity and traffic offloading for ground users. First, a Multiscale Adaptive…

The optimal design of multi-target rendezvous and flyby missions is challenging due to the combination of traditional spacecraft trajectory optimization and high-dimensional combinatorial problems. This often requires large-scale global…

Achieving reactive robot behavior in complex dynamic environments is still challenging as it relies on being able to solve trajectory optimization problems quickly enough, such that we can replan the future motion at frequencies which are…

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…

Collision-tolerant trajectory planning is the consideration that collisions, if they are planned appropriately, enable more effective path planning for robots capable of handling them. A mixed integer programming (MIP) optimization…

We study the nonlinear observability of a systems states in view of how well they are observable and what control inputs would improve the convergence of their estimates. We use these insights to develop an observability-aware…

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…

This paper studies energy-efficient unmanned aerial vehicle (UAV)-enabled wireless communications, where the UAV acts as a flying base station (BS) to serve the ground users (GUs) within some predetermined latency constraints, e.g.,…

In this paper, we investigate joint 3-dimensional (3D) trajectory planning and resource allocation for rotary-wing unmanned aerial vehicle (UAV) synthetic aperture radar (SAR) sensing. To support emerging real-time SAR applications and…

This paper presents an integrated approach that combines trajectory optimization and Artificial Potential Field (APF) method for real-time optimal Unmanned Aerial Vehicle (UAV) trajectory planning and dynamic collision avoidance. A…

For real-time multirotor kinodynamic motion planning, the efficiency of sampling-based methods is usually hindered by difficult-to-sample homotopy classes like narrow passages. In this paper, we address this issue by a hybrid scheme. We…

We present a hierarchical safe auto-taxiing framework to enhance the automated ground operations of multiple unmanned aircraft systems (multi-UAS). The auto-taxiing problem becomes particularly challenging due to (i) unknown disturbances,…

We present a framework for bi-level trajectory optimization in which a system's dynamics are encoded as the solution to a constrained optimization problem and smooth gradients of this lower-level problem are passed to an upper-level…

In this letter, we study a cellular-connected unmanned aerial vehicle (UAV) which aims to complete a mission of flying between two pre-determined locations while maintaining satisfactory communication quality with the ground base stations…