相关论文: SMART-OC: A Real-time Time-risk Optimal Replanning…
The paper presents an algorithm, called Self-Morphing Adaptive Replanning Tree (SMART), that facilitates fast replanning in dynamic environments. SMART performs risk based tree-pruning if the current path is obstructed by nearby moving…
Robust navigation in changing marine environments requires autonomous systems capable of perceiving, reasoning, and acting under uncertainty. This study introduces a hybrid risk-aware navigation architecture that integrates probabilistic…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
Unmanned Surface Vehicle (USV) is a new type of intelligent surface craft, and global path planning is the key technology of USV research, which can reflect the intelligent level of USV. In order to solve the problem of global path planning…
To eliminate the effect of ocean currents when addressing the optimal path in the underwater environment, an intelligent algorithm designed for the unmanned underwater vehicle (UUV) is proposed in this paper. The algorithm consists of two…
Autonomous systems, including robots and drones, face significant challenges when navigating through dynamic environments, particularly within urban settings where obstacles, fluctuating traffic, and pedestrian activity are constantly…
This paper presents a mission system and the therein implemented algorithms for path planning in a time-varying environment based on graph methods. The basic task of the introduced path planning algorithms is to find a time-optimal path…
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…
This paper introduces a real-time algorithm for navigating complex unknown environments cluttered with movable obstacles. Our algorithm achieves fast, adaptable routing by actively attempting to manipulate obstacles during path planning and…
Navigation of a team of autonomous underwater vehicles (AUVs) coordinated by an unmanned surface vehicle (USV) is efficient and reliable for deep ocean exploration. AUVs depart from and return to the USV after collaborative navigation, data…
Efficient trajectory generation in complex dynamic environments remains an open problem in the unmanned surface vehicle (USV). The perception of the USV is usually interfered with by the swing of the hull and the ambient weather, making it…
This paper addresses the fast replanning problem in dynamic environments with moving obstacles. Since for randomly moving obstacles the future states are unpredictable, the proposed method, called SMARRT, reacts to obstacle motions and…
This paper addresses the problem of trajectory optimization for an unmanned surface vehicle while considering direction-dependent ocean currents and flexible refueling constraints. This work is motivated by the rising interest in developing…
Autonomous underwater vehicles (AUVs) are increasingly used in marine research, military applications, and undersea exploration. However, their operational range is significantly affected by battery performance. In this paper, a framework…
This paper presents SMART-3D, an extension of the SMART algorithm to 3D environments. SMART-3D is a tree-based adaptive replanning algorithm for dynamic environments with fast moving obstacles. SMART-3D morphs the underlying tree to find a…
Autonomous navigation of Unmanned Surface Vehicles (USV) in marine environments with current flows is challenging, and few prior works have addressed the sensorbased navigation problem in such environments under no prior knowledge of the…
Unmanned Surface Vehicles (USVs) in the ocean environment, considering various spatiotemporal factors such as ocean currents and other energy consumption factors. The paper uses Gaussian Process Motion Planning (GPMP2), a Bayesian…
Recent advancements in self-driving car technologies have enabled them to navigate autonomously through various environments. However, one of the critical challenges in autonomous vehicle operation is trajectory planning, especially in…
Autonomous navigation is reshaping various domains in people's life by enabling efficient and safe movement in complex environments. Reliable navigation requires algorithmic approaches that compute optimal or near-optimal trajectories while…
We address the problem of reactive motion planning for quadrotors operating in unknown environments with dynamic obstacles. Our approach leverages a 4-dimensional spatio-temporal planner, integrated with vision-based Safe Flight Corridor…