相关论文: Trajectory Planning for a Multi-UAV Rigid-Payload …

In this paper, we extend a framework that we developed earlier for coordination of connected and automated vehicles (CAVs) at a signal-free intersection to incorporate uncertainty. Using the possibly noisy observations of actual time…

Rapidly-exploring Random Tree star (RRT*) has recently gained immense popularity in the motion planning community as it provides a probabilistically complete and asymptotically optimal solution without requiring the complete information of…

Safe navigation of cluttered environments is a critical challenge in robotics. It is typically approached by separating the planning and tracking problems, with planning executed on a reduced order model to generate reference trajectories,…

This paper addresses the transmission network expansion planning problem under uncertain demand and generation capacity. A two-stage adaptive robust optimization framework is adopted whereby the worst-case operating cost is accounted for…

Probabilistic sampling methods have become very popular to solve single-shot path planning problems. Rapidly-exploring Random Trees (RRTs) in particular have been shown to be efficient in solving high dimensional problems. Even though…

Rapidly Exploring Random Tree (RRT) algorithms, notably used for nonholonomic vehicle navigation in complex environments, are often not thoroughly evaluated for their specific challenges. This paper presents a first such comparison study of…

Safety is extremely important for urban flights of autonomous Unmanned Aerial Vehicles (UAVs). Risk-aware path planning is one of the most effective methods to guarantee the safety of UAVs. This type of planning can be represented as a…

Autonomous navigation of ground robots has been widely used in indoor structured 2D environments, but there are still many challenges in outdoor 3D unstructured environments, especially in rough, uneven terrains. This paper proposed a…

This paper presents a continuum mechanics-based approach for real-time deployment (RTD) of a multi-quadcopter system between moving initial and final configurations arbitrarily distributed in a 3-D motion space. The proposed RTD problem is…

This paper introduces a novel methodology for the cooperative control of multiple quadrotors transporting cablesuspended payloads, emphasizing obstacle-aware planning and event-based Nonlinear Model Predictive Control (NMPC). Our approach…

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…

Energy-sharing UAV-UGV systems extend the endurance of Uncrewed Aerial Vehicles (UAVs) by leveraging Uncrewed Ground Vehicles (UGVs) as mobile charging stations, enabling persistent autonomy in infrastructure-sparse environments. Trajectory…

This paper introduces an end-to-end trajectory planning algorithm tailored for multi-UAV systems that generates collision-free trajectories in environments populated with both static and dynamic obstacles, leveraging point cloud data. Our…

Unmanned aerial vehicles (UAVs) have attracted plenty of attention due to their high flexibility and enhanced communication ability. However, the limited coverage and energy of UAVs make it difficult to provide timely wireless service for…

This research addresses the increasing demand for advanced navigation systems capable of operating within confined surroundings. A significant challenge in this field is developing an efficient planning framework that can generalize across…

Autonomous motion planning is challenging in multi-obstacle environments due to nonconvex collision avoidance constraints. Directly applying numerical solvers to these nonconvex formulations fails to exploit the constraint structures,…

In the last decade, a great effort has been employed in the study of Hybrid Unmanned Aerial Underwater Vehicles, robots that can easily fly and dive into the water with different levels of mechanical adaptation. However, most of this…

Unmanned aerial vehicles (UAVs) are expected to be an integral part of wireless networks, and determining collision-free trajectory in multi-UAV non-cooperative scenarios while collecting data from distributed Internet of Things (IoT) nodes…

In this paper, we address the trajectory planning problem in uncertain nonconvex static and dynamic environments that contain obstacles with probabilistic location, size, and geometry. To address this problem, we provide a risk bounded…

With the pervasiveness of Stochastic Shortest-Path (SSP) problems in high-risk industries, such as last-mile autonomous delivery and supply chain management, robust planning algorithms are crucial for ensuring successful task completion…