Determining the appropriate number and position of waypoints on a great circle route (GCR) helps to shorten the sailing distance, reduce the number of course changes, and well-approximate the GCR through a small number of rhumb line (RL) legs. In thi...
The availability of automatic identification system (AIS) data for tracking vessels has paved the way for improvements in maritime safety and efficiency. However, one of the main challenges in using AIS data is often the low quality of the data. Prac...
In this paper, an advanced vehicle way-point tracking control method, including kinematic control, dynamic control and an obstacle avoidance strategy, is introduced. In the kinematic part, a vehicle kinematic model is established, along with the coor...
Unmanned aerial vehicles (UAVs) are required to pass through multiple important waypoints as quickly as possible in courier delivery, enemy reconnaissance and other tasks to eventually reach the target position. There are two important problems to be...
In practical missions, quadrotor drones frequently face the challenge of navigating through multiple predetermined waypoints in cluttered environments where the sequence of the waypoints is not specified. This study presents a comprehensive multi-way...
The time-optimal rendezvous problem is crucial for efficiently executing on-orbit servicing (OOS) missions in the future. To fulfill the detection requirement during rendezvous process, it is an essential issue that the maneuvering spacecraft flies o...
With the rapid development of Unmanned Aerial Vehicle (UAV) technology, it plays an increasingly important role in electrical power inspection. Automated approaches that generate inspection waypoints based on tower features have emerged in recent yea...
Recently, the use of quadrotors has increased in numerous applications, such as agriculture, rescue, transportation, inspection, and localization. Time-optimal quadrotor waypoint tracking is defined as controlling quadrotors to follow the given waypo...
Active signal-source seeking by swarms of unmanned aerial vehicles (UAVs) requires reliable waypoint decisions under measurement corruption, misleading response peaks, and geometric constraints. We propose MI-PSO-Adaptive, a high-level waypoint plann...
To improve the autonomous flight capability of endo-atmospheric flight vehicles, such as cruise missiles, drones, and other small, low-cost unmanned aerial vehicles (UAVs), a novel minimum-effort waypoint-following differential geometric guidance law...
In domestic robotics, passing through narrow areas becomes critical for safe and effective robot navigation. Due to factors like sensor noise or miscalibration, even if the free space is sufficient for the robot to pass through, it may not see enough...
It is a challengeable task to plan multi-objective optimization paths for autonomous underwater vehicles (AUVs) in an unknown environments, which involves reducing travel time, shortening path length, keeping navigation safety, and smoothing trajecto...
Accurately forecasting waypoint-level tropical cyclone (TC) intensity, defined as the local wind speed at specific maritime route waypoints under TC influence, is crucial for navigation safety and voyage planning. Conventional studies mainly focus on...
In this article we demonstrate that acceleration and deceleration of direction-turning drones at waypoints have a significant influence to path planning which is important to be considered for time-critical applications, such as drone-supported searc...
As the IMO and the EU strengthen carbon emission regulations, eco-friendly voyage planning is increasingly recognized by ship owners as one of the most important performance factors of the vessel fleet. The eco-friendly voyage planning aims to reduce...
The performance of biomimetic underwater vehicles directly depends on the correct design of their propulsion system and its control. These vehicles can attain highly efficient motion, hovering and thrust by properly moving part(s) of their bodies. In...
This paper presents a rapidly exploring random tree (RRT) algorithm with an effective post waypoint shift, which is suitable for the path planning of a wheeled mobile robot under kinematic constraints. In the growth of the exploring tree, the nearest...
Artificial intelligence is increasingly being investigated for robot motion generation, while conventional methods remain effective for deterministic waypoint tasks. This study evaluates reinforcement learning as a state-conditioned joint-reference-g...
Modern multi-Unmanned Aerial Vehicle (UAV) attacks pose significant challenges to existing counter-UAV frameworks due to their agility, irregular spatial formations, and increasing reliance on intelligent evasive behaviors. This paper proposes a unif...
A great ellipse route (GER), as one of the fundamental routes for ocean voyages, directly influences the actual voyage distance and the complexity of vessel maneuvering through the location and number of its waypoints. Against the backdrop of global...
For the optimization and performance evaluation of mobile ad hoc networks, a beneficial but challenging act is to derive from nodal movement behavior the steady-state spatial density function of nodal locations over a given finite area. Such derivati...
Algorithms such as RRT (Rapidly exploring random tree), A* and their variants have been widely used in the field of robot path planning. A lot of work has shown that these detectors are unable to carry out effective and stable results for moving obje...
Augmented reality (AR) can make robot programming more intuitive by letting users set motion parameters directly in the workspace. This paper extends AURaPath, an AR system for interactive 6-DoF waypoint determination on a UR10 collaborative robot us...
To fully leverage the spatiotemporal dynamic correlations in air traffic flow and enhance the accuracy of traffic flow prediction models, thereby providing a more precise basis for perceiving congestion situations in the air route network, a study wa...
Finding an optimal/quasi-optimal path for Unmanned Aerial Vehicles (UAVs) utilizing full map information yields time performance degradation in large and complex three-dimensional (3D) urban environments populated by various obstacles. A major portio...
In recent years, the use of modern technology in military operations has become standard practice. Unmanned systems play an important role in operations such as reconnaissance and surveillance. This article examines a model for planning aerial reconn...
Using unmanned robotic systems in military operations such as reconnaissance or surveillance, as well as in many civil applications, is common practice. In this article, the problem of monitoring the specified area of interest by a fleet of unmanned...
In this paper, we used multi-objective optimization in the exploration of unknown space. Exploration is the process of generating models of environments from sensor data. The goal of the exploration is to create a finite map of indoor space. It is co...
This paper presents a perception-aware path planner for active SLAM in dynamic environments using micro-aerial vehicles (MAV). The “Next-Best-View” planner (NBVP planner) is combined with an active loop closing, which is called the Active...
This paper studies three-dimensional (3D) straight line path following and obstacle avoidance control for an underactuated autonomous underwater vehicle (AUV) without lateral and vertical driving forces. Firstly, the expected angular velocities are d...
To address peak-period congestion in high-density air route networks and the high cost and limited precision of traditional global control methods, this study proposes a congestion mitigation method based on pinning control theory. First, a comprehen...
To achieve autonomous ultrasound scanning skill transfer across different physical equipment instances and address the limitations of traditional imitation learning methods—which struggle with cross-instance generalization due to their reliance...
Lifelong multi-agent pathfinding has two interrelated aspects: one is to find conflict-free paths for the agents, and the other is to resolve the conflicts among the agents in the best possible way. We focus on the first aspect by investigating three...
This paper deals with the control of lighter-than-air vehicles, more specifically the design of an integrated guidance, navigation and control (GNC) scheme that is capable of navigating an airship through a series of constant-altitude, planar waypoin...
This paper presents an unmanned aircraft system (UAS) that uses a probabilistic model for autonomous front-on environmental sensing or photography of a target. The system is based on low-cost and readily-available sensor systems in dynamic environmen...
Traffic speed prediction for a selected road segment from a short-term and long-term perspective is among the fundamental issues of intelligent transportation systems (ITS). During the course of the past two decades, many artefacts (e.g., models) hav...
The civil aviation industry is experiencing significant growth in air traffic density within terminal areas, necessitating improved air traffic efficiency. In China’s pursuit of world-class airport clusters, operational complexities arise due t...
The portable modular AUV (Autonomous Underwater Vehicle), named ZFAUV, has the ability to move laterally. Its turning radius becomes smaller as the forward speed decreases. Based on this special maneuverability, a modified LOS (line of sight) path fo...
Robotic autonomous navigation in dynamic environments is a complex problem, as traditional planners may fail to take dynamic obstacles and their variables into account. The Strategy-based Dynamic Object Velocity Space (S-DOVS) planner has been propos...
This paper presents a new coverage flight path planning algorithm that finds collision-free, minimum length and flyable paths for unmanned aerial vehicle (UAV) navigation in three-dimensional (3D) urban environments with fixed obstacles for coverage...
This paper presents LEVIOSA, a novel framework for text- and speech-based uncrewed aerial vehicle (UAV) trajectory generation. By leveraging multimodal large language models (LLMs) to interpret natural language commands, the system converts text and...
Today, simulator technology has been widely used as an important part of quadrotor development such as validation and testing. A good quadrotor simulator can simulate the quadrotor system as closely as possible to the real one. Therefore, in case of...
Guiding an aircraft to 4D waypoints at a certain heading is a multi-dimensional goal aircraft guidance problem. [d=Zu]In order to improve the performance and solve this problem, this paper proposes a multi-layer RL approach.To enhance the performance...
The marine environment is a hostile setting for robotics. It is strongly unstructured, uncertain, and includes many external disturbances that cannot be easily predicted or modeled. In this work, we attempt to control an autonomous underwater vehicle...
Autonomous waypoint tracking is a fundamental problem in mobile robotics, especially for differential-drive platforms with limited turning capabilities. Classical controllers assume that the robot can always geometrically align with the target. Howev...
Lane graphs are very important for describing road semantics and enabling safe autonomous maneuvers using the localization and path-planning modules. These graphs are considered long-life details because of the rare changes occurring in road structur...
This paper presents an efficient three-dimensional (3D) Dubins path design and a new continuous curvature path-smoothing algorithm. The proposed 3D Dubins path is a simple extension of the 2D path and serves as a reference path generator to guide the...
Autonomous vehicles require highly reliable navigation capabilities. For example, a lane-following method cannot be applied in an intersection without lanes, and since typical lane detection is performed using a straight-line model, errors can occur...
A robust controller for the waypoint tracking of a quadrotor unmanned aerial vehicle (UAV) is proposed in this paper, in which position control and attitude control are effectively decoupled. Model predictive control (MPC) is employed in the position...
In the expeditiously evolving discipline of autonomous aerial robotics, the efficiency and precision of drone control deliveries have become predominant. Different control strategies for UAV systems have been thoroughly investigated, yet PID controll...
of 9