相关论文: Ground and Flight Locomotion for Two-Wheeled Drone…

Quantifying and encoding occupants' preferences as an objective function for the tactical decision making of autonomous vehicles is a challenging task. This paper presents a low-complexity approach for lane-change initiation and planning to…

This research addresses the challenge of executing multi-UAV survey missions over diverse terrains characterized by varying elevations. The approach integrates advanced two-dimensional ergodic search technique with model predictive control…

This paper presents a vision-based modularized drone racing navigation system that uses a customized convolutional neural network (CNN) for the perception module to produce high-level navigation commands and then leverages a…

High-precision manipulation has always been a developmental goal for aerial manipulators. This paper investigates the kinematic coordinate control issue in aerial manipulators. We propose a predictive kinematic coordinate control method,…

In this paper, we present a novel guidance scheme based on model-based deep reinforcement learning (RL) technique. With model-based deep RL method, a deep neural network is trained as a predictive model of guidance dynamics which is…

Obstacle avoidance in unmanned aerial vehicles (UAVs), as a fundamental capability, has gained increasing attention with the growing focus on spatial intelligence. However, current obstacle-avoidance methods mainly depend on limited…

This work introduces a novel paradigm for solving optimal control problems for hybrid dynamical systems under uncertainties. Robotic systems having contact with the environment can be modeled as hybrid systems. Controller design for hybrid…

Traditional approaches to motion modeling for skid-steer robots struggle with capturing nonlinear tire-terrain dynamics, especially during high-speed maneuvers. In this paper, we tackle such nonlinearities by enhancing a dynamic unicycle…

Model Predictive Path Integral (MPPI) control, Reinforcement Learning (RL), and Diffusion Models have each demonstrated strong performance in trajectory optimization, decision-making, and motion planning. However, these approaches have…

This paper presents a novel approach for aerial drone autonomous navigation along predetermined paths using only visual input form an onboard camera and without reliance on a Global Positioning System (GPS). It is based on using a deep…

In this paper, we present a motion planning framework for multi-modal vehicle dynamics. Our proposed algorithm employs transcription of the optimization objective function, vehicle dynamics, and state and control constraints into sparse…

Policy Search and Model Predictive Control~(MPC) are two different paradigms for robot control: policy search has the strength of automatically learning complex policies using experienced data, while MPC can offer optimal control…

This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…

Path planning is a critical component in autonomous drone operations, enabling safe and efficient navigation through complex environments. Recent advances in foundation models, particularly large language models (LLMs) and vision-language…

This paper presents a novel model predictive control (MPC) approach for autonomous pick-and-place between moving platforms with a hook-equipped aerial manipulator. First, for accurate and rapid modeling of the complex dynamics, a digital…

Multi-robot formation control has various applications in domains such as vehicle troops, platoons, payload transportation, and surveillance. Maintaining formation in a vehicle platoon requires designing a suitable control scheme that can…

This paper studies high-speed online planning in dynamic environments. The problem requires finding time-optimal trajectories that conform to system dynamics, meeting computational constraints for real-time adaptation, and accounting for…

Quadrotor flight is an extremely challenging problem due to the limited control authority encountered at the limit of handling. Model Predictive Contouring Control (MPCC) has emerged as a promising model-based approach for time optimization…

Motion planning for autonomous robots in dynamic environments poses numerous challenges due to uncertainties in the robot's dynamics and interaction with other agents. Sampling-based MPC approaches, such as Model Predictive Path Integral…

Terrain traversability in unstructured off-road autonomy has traditionally relied on semantic classification, resource-intensive dynamics models, or purely geometry-based methods to predict vehicle-terrain interactions. While…