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This paper proposes a bidirectional spline-RRT∗ path planning algorithm for fixed-wing unmanned aerial vehicles (UAVs). The proposed algorithm combines the basic RRT∗ algorithm with the spline method to produce smooth paths, which are essential for fixed-wing UAVs. The proposed bidirectional spline-RRT∗ algorithm generates paths satisfying approach direction constraints on both start and goal points,...
A decentralized controller for target tracking and obstacle avoidance for a multi-agent system is proposed. The controller is based on a navigation function which is composed of a goal function, as the D-optimality criterion of the Fisher information matrix, and a constraint function, which generates repulsive force to the agents near the obstacle. The multi-agent system is modeled as a graph and...
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