Trajectory optimization during the terminal area energy management (TAEM) phase is pivotal for achieving accurate runway alignment and enhancing landing safety in autonomous aircraft operations. In the presence of initial state uncertainties in TAEM...
Location awareness is crucial for underwater applications; without it, gathered data would be essentially useless. However, it is impossible to directly determine the location of an underwater target because GPS-reliant methods cannot be utilized in...
The planning of trajectories for Connected Autonomous Vehicles (CAVs) represents a pivotal aspect of autonomous driving technologies, enabling secure navigation within traffic environments. Traditional models for trajectory control primarily focus on...
Buses constitute a crucial component of public transportation systems in numerous urban centers. Integrating autonomous driving technology into the bus transportation ecosystem has the potential to enhance overall urban mobility. The management of mi...
Achieving safe and stable navigation for autonomous ground vehicles (AGVs) in complex environments remains a key challenge in intelligent robotics. Conventional Model Predictive Path Integral (MPPI) control relies on pseudo-random Gaussian sampling,...
Ensuring the safety of autonomous vehicles (AVs) in complex and high-risk traffic scenarios remains a critical unresolved challenge. Current AV planning methods exhibit limitations in generating robust driving trajectories that effectively avoid coll...
This article presents an alternative variant of motion planning techniques for autonomous vehicles (AVs) centered on an inverse approach that concurrently optimizes both trajectory and speed. This method emphasizes searching for a trajectory and dist...
In this paper, we propose a novel trajectory generation method for autonomous excavator teach-and-plan applications. Rather than controlling the excavator to precisely follow the teaching path, the proposed method transforms the arbitrary slow and je...
This research presents a nonlinear adaptive optimal control approach to the trajectory tracking problem of a swarm of autonomous mobile robots. Mathematically, finding an analytical adaptive control solution that meets the H2 performance index for th...
Trajectory planning in dynamic multi-vehicle interaction environments faces three critical challenges, including the difficulty of quantifying spatial risk distributions, the complexity of characterizing behavioral uncertainty arising from the multim...
In the last decade, research studies on parking planning mainly focused on path planning rather than trajectory planning. The results of trajectory planning are more instructive for a practical parking process. Therefore, this paper proposes a trajec...
Traffic congestion or accidents may occur as a consequence of the difficulty of performing a safe, comfortable, and efficient overtaking in a timely manner when there is a slow or stopped vehicle, cyclist, or partial lane blockage on the road. Specif...
The following article presents the task of optimizing the control of an autonomous object within a group of other passing objects using Pontryagin’s bounded maximum principle. The basis of this principle is a multidimensional nonlinear model of...
Background/Objective: Autonomous vehicles (AVs) require control algorithms capable of handling complex and dynamic environments while satisfying multiple conflicting objectives such as safety, comfort, energy efficiency, and trajectory accuracy. Mode...
This paper proposes a constrained trajectory optimization framework for autonomous vehicles (AVs) based on convex programming techniques. An enhanced kinematic vehicle model is introduced to capture dynamic motion characteristics that are often overl...
This paper introduces a robust and efficient Localized Spline-based Path-Planning (LSPP) algorithm designed to enhance autonomous vehicle navigation on highways. The LSPP approach prioritizes smooth maneuvering, obstacle avoidance, passenger comfort,...
Providing safe, smooth, and efficient trajectories for autonomous vehicles has long been a question of great interest in the field of autopiloting. In dynamic and ever-changing urban environments, safe and efficient trajectory planning is fundamental...
Autonomous underwater vehicle (AUV) motion planning in complex three-dimensional ocean environments remains challenging due to the simultaneous requirements of obstacle avoidance, dynamic feasibility, and energy efficiency. Current approaches often d...
AUVs are autonomous underwater robots equipped with advanced sensors and navigation systems. Due to the complexity and uncertainty of the marine environment, AUVs are susceptible to the effects of the marine environment and may experience communicati...
Over the past four decades, space debris has been identified as a growing hazard for near-Earth space systems. With limited access to space debris tracking databases and only recent policy advancements made to secure a sustainable space environment a...
A hybrid approach composed by different types of fuzzy systems, such as the Type-1 Fuzzy Logic System (T1FLS), Interval Type-2 Fuzzy Logic System (IT2FLS) and Generalized Type-2 Fuzzy Logic System (GT2FLS) for the dynamic adaptation of the alpha and...
Autonomous driving technology enables precise motion control and creates substantial opportunities for improving the operation of signalized intersections. However, the performance trade-offs among autonomous vehicles at signalized intersections, and...
As a fundamental part of water management, water sampling treatments have recently been integrated into unmanned aerial vehicle (UAV) technologies and offer eco-friendly, cost-effective, and time-saving solutions while reducing the necessity for qual...
Autonomous driving technology in urban environments is a very important avenue of research. Notably, the question of how to plan safe lane-changing trajectories is a challenge in multi-vehicle traffic environments. In our research, three kinds of pol...
Effective path planning in complex underwater environments serves as a critical determinant of autonomous underwater vehicle (AUVs) energy efficiency, while simultaneously influencing sensor operational demands and battery state-of-charge (SOC) dynam...
In this paper, the concept of symmetry is utilized to design the trajectory planning for parallel parking of autonomous ground vehicles—that is, the construction and the solution of the optimization-based trajectory planning approach are symmet...
The capacity for autonomous functionality serves as the fundamental ability and driving force for the cross-generational upgrading of unmanned aerial vehicles (UAVs). With the disruptive transformation of artificial intelligence technology, autonomou...
Autonomous underwater vehicles (AUVs) have been widely used in ocean missions. When they fail in the ocean, it is important to predict their trajectory. Existing methods rely heavily on historical trajectory data while overlooking the influence of th...
This study presents smooth and fast feasible trajectory generation for autonomous driving vehicles subject to the vehicle physical constraints on the vehicle power, speed, acceleration as well as the hard limitations of the vehicle steering angle and...
In order to improve the real-time performance of the trajectory tracking of autonomous vehicles, this paper applies the alternating direction multiplier method (ADMM) to the receding optimization of model predictive control (MPC), which improves the...
Unmanned aerial vehicles (UAVs) are utilized for wireless communication support of Internet of Intelligent Vehicles (IoVs). Intelligent vehicles (IVs) need vehicle-to-vehicle (V2V) and vehicle-to-everything (V2X) wireless communication for real-time...
Accurate 3D reconstructions of architecture, engineering, and construction AEC structures using UAV photogrammetry are often hindered by occlusions, excessive image overlaps, or insufficient coverage, leading to inefficient flight paths and extended...
Model predictive control (MPC) has emerged as one of the most effective control strategies for autonomous vehicle path tracking owing to its capability to explicitly handle dynamic constraints and optimize future control actions. However, its trackin...
This study presents the development and analysis of a technique for planning the autonomous vehicle (AV) motion references using sequential optimization. The method determines the trajectory plan, speed and acceleration distributions, and other AV ki...
Autonomous driving technology has not yet been widely adopted, in part due to the challenge of achieving high-accuracy trajectory tracking in complex and hazardous driving scenarios. To this end, we proposed an adaptive sliding mode controller optimi...
Submarine inspections and surveys require underwater vehicles to operate in deep waters efficiently, safely and reliably. Autonomous Underwater Vehicles employing advanced navigation and control systems present several advantages. Robust control algo...
Three-dimensional (3D) dynamic trajectory planning for Autonomous Underwater Vehicles (AUVs) is associated with significant challenges such as balancing the trajectory quality, computational efficiency, and environmental adaptability within complex d...
The past three decades have witnessed extensive studies on motion-planning and tracking-control for autonomous vehicles (AVs). There is, however, a lack of studies on effective design methods for AVs, which consist of the subsystems of the mechanical...
This paper proposes a fuzzy sliding mode controller optimized using particle swarm optimization (FSMC-PSO) for trajectory tracking of an autonomous underwater vehicle (AUV). Conventional sliding mode control (SMC) is well known for its robustness aga...
For long-term missions in complex seas, the onboard energy resources of autonomous underwater vehicles (AUVs) are limited. Thus, energy consumption reduction is an important aspect of the study of AUVs. This paper addresses energy consumption reducti...
This work aimed to develop an autonomous system for unmanned aerial vehicles (UAVs) to land on moving platforms such as an automobile or a marine vessel, providing a promising solution for a long-endurance flight operation, a large mission coverage r...
Smart routing has emerged as a critical enabler of sustainable shipping, addressing the growing demand for energy-efficient, safe, and adaptive vessel navigation in both maritime and inland waterborne transport. This review examines the current lands...
This research focuses on integrating seakeeping indices into the trajectory planning of a mother ship in order to minimize risks during UAV (unmanned aerial vehicle) takeoff and landing in challenging sea conditions. By considering vessel dynamics an...
Autonomous parking systems (APSs) can help drivers complete the task of finding a parking space and the parking operation, which improves driving comfort. Current research on APSs focus on the perception, localization, planning, and control modules,...
Autonomous navigation on unknown uneven terrain remains a critical challenge for unmanned ground vehicle (UGV) deployed in unstructured environments such as disaster relief, wilderness exploration, and off-road logistics. Existing motion planning met...
In this paper, we investigate the intersection traffic management for connected automated vehicles (CAVs). In particular, a decentralized autonomous intersection management scheme that takes into account both the traffic efficiency and scheduling fle...
Autonomous-rail Rapid Transit (ART) systems operate on standard roadways while maintaining dedicated right-of-way privileges. Owing to their sustainability, punctual operation, and cost efficiency, ART systems have emerged as a promising solution for...
This article presents a hierarchical control framework for autonomous vehicle trajectory planning and tracking, addressing the challenge of accurately following high-speed, at-limit maneuvers. The proposed time-optimal trajectory planning and trackin...
This study proposes a receding horizon optimization-based docking control method to address the autonomy and safety challenge of underwater docking between manned submersibles and unmanned vehicles, facilitating the integration of docking trajectory...
The rapid evolution of smart cities relies heavily on advancements in wireless communication systems and extensive IoT networks. This paper offers a comprehensive review of the critical role and future potential of integrating unmanned aerial vehicle...
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