相关论文: SMART-OC: A Real-time Time-risk Optimal Replanning…
Using Unmanned Aerial Vehicles (UAVs) in Search and rescue operations (SAR) to navigate challenging terrain while maintaining reliable communication with the cellular network is a promising approach. This paper suggests a novel technique…
This paper presents aUToPath, a unified online framework for global path-planning and control to address the challenge of autonomous navigation in cluttered urban environments. A key component of our framework is a novel hybrid planner that…
Robots such as autonomous underwater vehicles (AUVs) and autonomous surface vehicles (ASVs) have been used for sensing and monitoring aquatic environments such as oceans and lakes. Environmental sampling is a challenging task because the…
This paper presents an integrated path planning and tracking control of marine hydrokinetic energy harvesting devices. To address the highly nonlinear and uncertain oceanic environment, the path planner is designed based on a reinforcement…
Path planning is a major problem in autonomous vehicles. In recent years, with the increase in applications of Unmanned Aerial Vehicles (UAVs), one of the main challenges is path planning, particularly in adversarial environments. In this…
Autonomous sailboats are well suited for long-duration ocean observation due to their wind-driven endurance. However, their performance is highly anisotropic and strongly influenced by inhomogeneous and time-varying wind and current fields,…
Online motion planning is a challenging problem for intelligent robots moving in dense environments with dynamic obstacles, e.g., crowds. In this work, we propose a novel approach for optimal and safe online motion planning with minimal…
Replanning in temporal logic tasks is extremely difficult during the online execution of robots. This study introduces an effective path planner that computes solutions for temporal logic goals and instantly adapts to non-static and…
Most path planners assume fully known, static environments, assumptions that fail when robots navigate in dynamic and partially observable environments. SMART-3D addresses these issues by real-time replanning, where it morphs the underlying…
Mapping traversal costs in an environment and planning paths based on this map are important for autonomous navigation. We present a neurobotic navigation system that utilizes a Spiking Neural Network Wavefront Planner and E-prop learning…
Modern autonomous underwater vehicles (AUVs) have advanced sensing capabilities including sonar, cameras, acoustic communication, and diverse bio-sensors. Instead of just sensing its environment and storing the data for post-Mission…
Today AUVs operation still remains restricted to very particular tasks with low real autonomy due to battery restrictions. Efficient motion planning and mission scheduling are principle requirement toward advance autonomy and facilitate the…
An Autonomous Underwater Vehicle (AUV) should carry out complex tasks in a limited time interval. Since existing AUVs have limited battery capacity and restricted endurance, they should autonomously manage mission time and the resources to…
Path planning for high-speed unmanned surface vehicles requires more complex solutions to reduce sailing time and save energy. This article proposes a new predictive artificial potential field that incorporates time information and…
This paper presents a new algorithm named spherical vector-based particle swarm optimization (SPSO) to deal with the problem of path planning for unmanned aerial vehicles (UAVs) in complicated environments subjected to multiple threats. A…
Research on coastal regions traditionally involves methods like manual sampling, monitoring buoys, and remote sensing, but these methods face challenges in spatially and temporally diverse regions of interest. Autonomous surface vehicles…
The most crucial challenges for UAVs are planning paths and avoiding obstacles in their way. In recent years, a wide variety of path-planning algorithms have been developed. These algorithms have successfully solved path-planning problems;…
We develop a hierarchical LLM-task-motion planning and replanning framework to efficiently ground an abstracted human command into tangible Autonomous Underwater Vehicle (AUV) control through enhanced representations of the world. We also…
This paper presents a three-dimensional (3D) energy-optimal path-following control design for autonomous underwater vehicles subject to ocean currents. The proposed approach has a two-stage control architecture consisting of the setpoint…
Unmanned systems (USs) including unmanned aerial vehicles, unmanned underwater vehicles, and unmanned ground vehicles have great application prospects in military and civil fields, among which the process of finding feasible and optimal…