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In this paper we present an analytical model for incorporating navigational error into a search performance prediction algorithm through the construction of a corresponding utility function. The search space is partitioned into a set of cells over which a utility function formulation is developed for each. The navigational displacement error is assumed to be driven by a Mixed Ornstein Uhlenbeck stochastic...
This paper presents an integrated planning and control algorithm for the navigation of an autonomous rotary wing unmanned aerial vehicle (RUAV) in a cluttered environment. The model predictive control (MPC) combined with a potential field-like function integrates the planning and control in a single step. This strategy enables the generation of dynamically feasible motion because the planning is done...
This paper introduces a new approach to manage network access in tactical environment for specific vehicles. These vehicles must ensure continuity of communications on the move with the command chain and with other units, like dismounted soldiers. Due to tactical mobility, path loss and versatile threats, vehicle navigation must be managed online according to communication connectivity, mission and...
Due to its significant potential applications, underwater chemical plume exploration and source localization via an autonomous underwater vehicle (AUV) is currently a hot subject both in AUV and oceanic engineering research communities. Chemical plume including buoyant stem and non-buoyant part such as deep-sea hydrothermal plume is a typical dynamic 3D feature in the ocean environment; therefore,...
We present the motion planning framework for an autonomous vehicle navigating through urban environments. Such environments present a number of motion planning challenges, including ultra-reliability, high-speed operation, complex inter-vehicle interaction, parking in large unstructured lots, and constrained maneuvers. Our approach combines a model-predictive trajectory generation algorithm for computing...
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