相关论文: Multi-UAV Swarm Obstacle Avoidance Based on Potent…

We consider the problem of warehouse multi-robot automation system in discrete-time and discrete-space configuration with focus on the task allocation and conflict-free path planning. We present a system design where a centralized server…

We present a novel algorithm for large-scale Multi-Agent Path Finding (MAPF) that enables fast, scalable planning in dynamic environments such as automated warehouses. Our approach introduces finite-horizon hierarchical factorization, a…

We propose a variant of alternating direction method of multiplier (ADMM) to solve constrained trajectory optimization problems. Our ADMM framework breaks a joint optimization into small sub-problems, leading to a low iteration cost and…

Multi-agent pathfinding (MAPF) under one-shot planning is a core component of warehouse automation, yet classical formulations typically assume four-connected 2D grids with unit-time moves in four directions. To fill reality gaps while…

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…

Advanced Aerial Mobility encompasses many outstanding applications that promise to revolutionize modern logistics and pave the way for various public services and industry uses. However, throughout its history, the development of such…

Autonomous collision avoidance requires accurate environmental perception; however, flight systems often possess limited sensing capabilities with field-of-view (FOV) restrictions. To navigate this challenge, we present a safety-aware…

This study proposes an approach for establishing an optimal multihop ad-hoc network using multiple unmanned aerial vehicles (UAVs) to provide emergency communication in disaster areas. The approach includes two stages, one uses particle…

As UAV popularity soars, so does the mission planning associated with it. The classical approaches suffer from the triple problems of decoupled of task assignment and path planning, poor real-time performance and limited adaptability.…

Multi-robot motion planning for high degree-of-freedom manipulators in shared, constrained, and narrow spaces is a complex problem and essential for many scenarios such as construction, surgery, and more. Traditional coupled methods plan…

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…

Underwater gliders (UGs) have emerged as highly effective unmanned vehicles for ocean exploration. However, their operation in dynamic and complex underwater environments necessitates robust path-planning strategies. Previous studies have…

This paper proposes a real-time movement control algorithm for massive unmanned aerial vehicles (UAVs) that provide emergency cellular connections in an urban disaster site. While avoiding the inter-UAV collision under temporal wind…

MAPF problem aims to find plans for multiple agents in an environment within a given time, such that the agents do not collide with each other or obstacles. Motivated by the execution and monitoring of these plans, we study Dynamic MAPF…

This paper presents a scalable and fault-tolerant framework for unmanned aerial vehicle (UAV) mission management in complex and uncertain environments. The proposed approach addresses the computational bottleneck inherent in solving…

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…

Estimating collision probabilities between robots and environmental obstacles or other moving agents is crucial to ensure safety during path planning. This is an important building block of modern planning algorithms in many application…

This paper presents an adaptive coverage control method for a fleet of off-road and Unmanned Ground Vehicles (UGVs) operating in dynamic (time-varying) agricultural environments. Traditional coverage control approaches often assume static…

An autonomous navigation with proven collision avoidance in unknown and dynamic environments is still a challenge, particularly when there are moving obstacles. A popular approach to collision avoidance in the face of moving obstacles is…

A new path planning method for Mobile Robots (MR) has been developed and implemented. On the one hand, based on the shortest path from the start point to the goal point, this path planner can choose the best moving directions of the MR,…