相关论文: Flow-Based Path Planning for Multiple Homogenous U…

A tethered marsupial robotics system comprises three components: an Unmanned Ground Vehicle (UGV), an Unmanned Aerial Vehicle (UAV), and a tether connecting both robots. Marsupial systems are highly beneficial in industry as they extend the…

Path planning is a key component in motion planning for autonomous vehicles. A path specifies the geometrical shape that the vehicle will travel, thus, it is critical to safe and comfortable vehicle motions. For urban driving scenarios,…

Trajectory planning is crucial in multi-robot systems, particularly in environments with numerous obstacles. While extensive research has been conducted in this field, the challenge of coordinating multiple robots to flow collectively from…

This paper proposes a method for formation path following control of a fleet of underactuated autonomous underwater vehicles. The proposed method combines several hierarchic tasks in a null space-based behavioral algorithm to safely guide…

Autonomous exploration is one of the important parts to achieve the autonomous operation of Unmanned Aerial Vehicles (UAVs). To improve the efficiency of the exploration process, a fast and autonomous exploration planner (FAEP) is proposed…

This paper studies the leaderless formation flying problem with collision avoidance for a group of unmanned aerial vehicles (UAVs), which requires the UAVs to navigate through cluttered environments without colliding while maintaining the…

With advancements in technology, commercial aircraft formation flying is becoming increasingly feasible as an efficient and environmentally friendly flight method. However, gaps remain in practical implementation, particularly in collision…

Reliability is a critical aspect of multi-agent system coordination as it ensures that the system functions correctly and consistently. If one agent in the system fails or behaves unexpectedly, it can negatively impact the performance and…

Safe swarm navigation in cluttered indoor environment requires long-horizon planning, reactive obstacle avoidance, and adaptive compliance. We propose ImpedanceDiffusion, a hierarchical framework that leverages image-conditioned…

Efficient aerial data collection is important in many remote sensing applications. In large-scale monitoring scenarios, deploying a team of unmanned aerial vehicles (UAVs) offers improved spatial coverage and robustness against individual…

This paper presents a non-linear optimization method for trajectory planning of tethered aerial robots. Particularly, the paper addresses the planning problem of an unmanned aerial vehicle (UAV) linked to an unmanned ground vehicle (UGV) by…

In this paper, we study the path planning for a cellular-connected unmanned aerial vehicle (UAV) to minimize its flying distance from given initial to final locations, while ensuring a target link quality in terms of the large-scale channel…

Unmanned aerial vehicles (UAVs) can offer timely and cost-effective delivery of high-quality sensing data. How- ever, deciding when and where to take measurements in complex environments remains an open challenge. To address this issue, we…

Informative path planning (IPP) is used to design paths for robotic sensor platforms to extract the best/maximum possible information about a quantity of interest while operating under a set of constraints, such as the dynamic feasibility…

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…

Multi-Agent Path Finding (MAPF) is a fundamental problem in robotics that asks us to compute collision-free paths for a team of agents, all moving across a shared map. Although many works appear on this topic, all current algorithms…

Global path planning is the key technology in the design of unmanned surface vehicles. This paper establishes global environment modelling based on electronic charts and hexagonal grids which are proved to be better than square grids in…

This study proposes a novel multi-objective integer programming model for a collision-free discrete drone path planning problem. Considering the possibility of bypassing obstacles or flying above them, this study aims to minimize the path…

This paper develops a novel physics-based approach for fault-resilient multi-quadcopter coordination in the presence of abrupt quadcopter failure. Our approach consists of two main layers: (i) high-level physics-based guidance to safely…

Motion planning is an essential process for the navigation of unmanned aerial vehicles (UAVs) where they need to adapt to obstacles and different structures of their operating environment to reach the goal. This paper presents an optimal…