相关论文: Novel Pigeon-inspired 3D Obstacle Detection and Av…

We present a hybrid feedback control framework for autonomous robot navigation in n-dimensional Euclidean spaces cluttered with spherical obstacles. The proposed approach ensures safe and global navigation towards a target location by…

This paper introduces a novel approach that integrates future closest point predictions into the distance constraints of a collision avoidance controller, leveraging convex hulls with closest point distance calculations. By addressing…

This paper tackles the distributed leader-follower (L-F) control problem for heterogeneous mobile robots in unknown environments requiring obstacle avoidance, inter-robot collision avoidance, and reliable robot communications. To prevent an…

Navigating dynamic environments requires the robot to generate collision-free trajectories and actively avoid moving obstacles. Most previous works designed path planning algorithms based on one single map representation, such as the…

Obstacle avoidance and path planning are essential for guiding unmanned ground vehicles (UGVs) through environments that are densely populated with dynamic obstacles. This paper develops a novel approach that combines tangentbased path…

In this paper a vision-based system for detection, motion tracking and following of Unmanned Aerial Vehicle (UAV) with other UAV (follower) is presented. For detection of an airborne UAV we apply a convolutional neural network YOLO trained…

As an autonomous vehicles, Unmanned Aerial Vehicles (UAVs) are subjected to several challenges. One of the challenges is for UAV to be able to avoid collision. Many collision avoidance methods have been proposed to address this issue.…

In this paper, we consider the problem of caging and eventual capture of an underwater entity using multiple Autonomous Underwater Vehicles (AUVs) in a 3D water volume We solve this problem both with and without taking bathymetry into…

For drones, as safety-critical systems, there is an increasing need for onboard detect & avoid (DAA) technology i) to see, sense or detect conflicting traffic or imminent non-cooperative threats due to their high mobility with multiple…

The operation of an autonomous underwater vehicle (AUV) faces challenges in following predetermined waypoints due to coupled motions under environmental disturbances. To address this, a 3D path following guidance and control system is…

Modeling and evaluation of automated vehicles (AVs) in mixed-autonomy traffic is essential prior to their safe and efficient deployment. This is especially important at urban junctions where complex multi-agent interactions occur. Current…

The task of establishing and maintaining situational awareness in an unknown environment is a critical step to fulfil in a mission related to the field of rescue robotics. Predominantly, the problem of visual inspection of urban structures…

A tracking controller for unmanned aerial vehicles (UAVs) is developed to track moving targets undergoing unknown translational and rotational motions. The main challenges are to control both the relative positions and angles between the…

Multi-UAV collaborative 3D object detection can perceive and comprehend complex environments by integrating complementary information, with applications encompassing traffic monitoring, delivery services and agricultural management.…

Autonomous drone technology holds significant promise for enhancing search and rescue operations during evacuations by guiding humans toward safety and supporting broader emergency response efforts. However, their application in dynamic,…

This paper considers how to ensure that a system of fixed wing Unmanned Aerial Vehicles (UAVs) can avoid collisions. To do so we develop a novel method for creating a barrier function, which is similar to a Lyapunov function and can be used…

Platoon formation with connected and automated vehicles (CAVs) in a mixed traffic environment poses significant challenges due to the presence of human-driven vehicles (HDVs) with unknown dynamics and control actions. In this paper, we…

Wildland fire fighting is a very dangerous job, and the lack of information of the fire front is one of main reasons that causes many accidents. Using unmanned aerial vehicle (UAV) to cover wildfire is promising because it can replace human…

While Unmanned Aerial Vehicles (UAVs) have gained significant traction across various fields, path planning in 3D environments remains a critical challenge, particularly under size, weight, and power (SWAP) constraints. Traditional modular…

This paper proposes an integrated approach for the safe and efficient control of mobile robots in dynamic and uncertain environments. The approach consists of two key steps: one-shot multimodal motion prediction to anticipate motions of…