相关论文: Airspace-aware Contingency Landing Planning

We first formulate the problem of optimally scheduling air traffic low with sector capacity constraints as a mixed integer linear program. We then use semidefinite relaxation techniques to form a convex relaxation of that problem. Finally,…

Urban air mobility is a concept that promotes aerial modes of transport in urban areas. In these areas, the location and capacity of the vertiports--where the travelers embark and disembark the aircraft--not only affect the flight delays of…

Full autonomy for fixed-wing unmanned aerial vehicles (UAVs) requires the capability to autonomously detect potential landing sites in unknown and unstructured terrain, allowing for self-governed mission completion or handling of emergency…

Obstacle avoidance path planning for uncrewed aerial vehicles (UAVs), or drones, is rarely addressed in most flight path planning schemes, despite obstacles being a realistic condition. Obstacle avoidance can also be energy-intensive,…

Forecasting traffic flows is a central task in intelligent transportation system management. Graph structures have shown promise as a modeling framework, with recent advances in spatio-temporal modeling via graph convolution neural…

Adverse weather conditions, particularly convective phenomena, pose significant challenges to Air Traffic Management, often requiring real-time rerouting decisions that impact efficiency and safety. This study introduces a 3-D Gaussian…

This work proposes a framework for the robust design of UAV-assisted wireless networks that combine 3D trajectory optimization with user mobility prediction to address dynamic resource allocation challenges. We proposed a sparse…

A crucial issue for a mobile ad hoc network is the handling of a large number of nodes. As more nodes join the mobile ad hoc network, contention and congestion are more likely. The on demand routing protocols which broadcasts control…

Landing safely in crowded urban environments remains an essential yet challenging endeavor for Unmanned Aerial Vehicles (UAVs), especially in emergency situations. In this work, we propose a risk-aware approach that harnesses semantic…

We tackle the problem of minimum-time flight for a quadrotor through a sequence of waypoints in the presence of obstacles while exploiting the full quadrotor dynamics. Early works relied on simplified dynamics or polynomial trajectory…

Autonomous flight of micro air vehicles (MAVs) in unknown, cluttered environments remains challenging for time-critical missions due to conservative maneuvering strategies. This article presents an integrated planning and control framework…

For multi-vehicle complex traffic scenarios in shared spaces such as intelligent intersections, safe coordination and trajectory planning is challenging due to computational complexity. To meet this challenge, we introduce a computationally…

This letter suggests an integrated approach for a drone (or multirotor) to perform an autonomous videography task in a 3-D obstacle environment by following a moving object. The proposed system includes 1) a target motion prediction module…

We have implemented a method that detects planar regions from 3D scan data using Random Sample Consensus (RANSAC) algorithm to address the issue of a trade-off between the scanning speed and the point density of 3D scanning. However, the…

Safe trajectory planning in complex environments must balance stringent collision avoidance with real-time efficiency, which is a long-standing challenge in robotics. In this work, we present a diffusion-based trajectory planning framework…

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…

For intelligent quadcopter UAVs, a robust and reliable autonomous planning system is crucial. Most current trajectory planning methods for UAVs are suitable for static environments but struggle to handle dynamic obstacles, which can pose…

Temporal logic task planning for robotic systems suffers from state explosion when specifications involve large numbers of discrete locations. We provide a novel approach, particularly suited for tasks specifications with universally…

Ensuring safe behavior for automated vehicles in unregulated traffic areas poses a complex challenge for the industry. It is an open problem to provide scalable and certifiable solutions to this challenge. We derive a trajectory planner…

Global ambient air pollution, a transboundary challenge, is typically addressed through interventions relying on data from spatially sparse and heterogeneously placed monitoring stations. These stations often encounter temporal data gaps…