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In this paper, we address the data collection planning problem for fixed-wing unmanned aircraft vehicle (UAV) with a limited travel budget. We formulate the problem as a variant of the Orienteering Problem (OP) in which the Dubins airplane model is utilized to extend the problem into the three-dimensional space and curvature-constrained vehicles. The proposed Dubins Airplane Orienteering Problem (DA-OP)...
A recently introduced method for robotic vascular catheterization is Fringe Field Navigation (FFN). A requirement of this method is the trajectory required for planning the sequences of navigation. We have introduced a method of trajectory planning compatible with the requirements of FFN for vasculature navigation. The method exploits the vessel centerline to define the vascular structure trajectory...
In this paper, a footprint determination algorithm for entry vehicles based on three-dimensional acceleration profile is proposed, which solves the problem of fast determination of the entry coverage with complex multi-constraints. The aerodynamic adjustment capability is greatly improved since both the angle of attack and bank are regarded as primary variables, and in this way larger entry footprint...
We present a runtime efficient approach to sampling-based path planning for fixed-wing unmanned aerial vehicles (UAV) based on line-graphs. Accounting for flight performance limits and the local prevailing wind, path planning is computationally expensive especially in 3D obstacle environments. A common approach is to solve the problem successively, i.e. to plan collision free paths, which are then...
We define a system architecture for a large swarm of miniature quadcopters flying in dense formation indoors. The large number of small vehicles motivates novel design choices for state estimation and communication. For state estimation, we develop a method to reliably track many small rigid bodies with identical motion-capture marker arrangements. Our communication infrastructure uses compressed...
In this paper, we introduce an informative path planning (IPP) framework for active classification using unmanned aerial vehicles (UAVs). Our algorithm uses a combination of global viewpoint selection and evolutionary optimization to refine the planned trajectory in continuous 3D space while satisfying dynamic constraints. Our approach is evaluated on the application of weed detection for precision...
Autonomous robot navigation through unknown, cluttered environments at high-speeds is still an open problem. Quadrotor platforms with this capability have only begun to emerge with the advancements in light-weight, small form factor sensing and computing. Many of the existing platforms, however, require excessive computation time to perform collision avoidance, which ultimately limits the vehicle's...
This paper presents a method for constructing 3D maps of marine archaeological sites using deployments of Autonomous Underwater Vehicles (AUV) equipped with sonar and cameras. The method requires multiple AUV missions in which the first mission directs the AUV to conduct a high altitude lawnmower scan over the area to create a course bathymetry map using sonar. Subsequent AUV missions then direct...
Robot Coverage Path planning (i.e., the process of providing full coverage of a given domain by one or multiple robots) is a classical problem in the field of robotics and motion planning. The goal of such planning is to provide nearly full coverage while also minimize duplicately visited area. In this paper, we focus on the scenario of path planning on general surface, including planar domains with...
To analyze point cloud data of a car part, massive computations need to be carried out; if it is done by conventional ways, the processing efficiency is relatively low. However, by applying partition method to point data analysis, the work is easier. Such partition method should follow the minimal-distance matching principle to find out the enclosing matching points. Then the intersections of the...
We address the challenging problem of tracking a moving target in cluttered environments using a quadrotor. Our online trajectory planning method generates smooth, dynamically feasible, and collision-free polynomial trajectories that follow a visually-tracked moving target. As visual observations of the target are obtained, the target trajectory can be estimated and used to predict the target motion...
This paper presents a real-time, kinodynamic planning and information-theoretic exploration framework that enables high-resolution mapping of three-dimensional environments featuring complex concavities and disjoint objects. The proposed approach targets planetary exploration applications and seeks to achieve real-time operation on computationally constrained systems while ensuring energy-efficient...
This paper addresses the problem of jointly planning both grasps and subsequent manipulative actions. Previously, these two problems have typically been studied in isolation, however joint reasoning is essential to enable robots to complete real manipulative tasks. In this paper, the two problems are addressed jointly and a solution that takes both into consideration is proposed. To do so, a manipulation...
This paper proposes a motion planning method for an autonomous vehicle in an urban environment. The proposed method generates trajectories using the closed-loop forward simulation (CLFS), which can consider various properties of an autonomous vehicle. The safeties of the generated trajectories are evaluated using an occupancy grid map. Using the proposed method, smooth and safe trajectories can be...
Pathological conditions that cause instability of the spine are commonly treated by vertebral fixation involving pedicle screw placement surgery. However, existing methods for preoperative planning are based only on geometrical properties of vertebral structures (i.e., shape) without taking into account their structural properties (i.e., appearance). We propose a novel automated method for computer-assisted...
This paper studies tandem flocking of a team of unmanned aerial vehicles (UAVs) equipped with limited range sensors exploring an obstacle-rich GPS-denied environment such as a forest or urban canyon. There is no communication between UAVs and the follower can only estimate its leader's relative position by its on-board camera. A vision-based leader-follower flocking strategy is proposed to achieve...
Perceptual mechanisms humans use in motion planning and guidance are responsible for their agile and versatile capabilities. Their understandings would help advance both autonomous control and improve human-machine interfaces. This paper extends prior work by collecting human trajectory and gaze data while performing simulated first-person motion guidance tasks. This data is considered under the hypothesis...
Complex indoor and outdoor missions for autonomous micro aerial vehicles (MAV) constitute a demand for fast generation of collision-free paths in 3D space. Often not all obstacles in an environment are known prior to the mission execution. Consequently, the ability for replanning during a flight is key for success. Our approach utilizes coarse grid-based path planning with an approximate model of...
Proactive collision detection enables robots to efficiently execute tasks in shared human-robot-workspaces by avoiding collision-prone situations. Our work connects motion prediction of RGB-D flow algorithms with motion primitive planning via an efficient voxel Swept-Volume-based collision detection. The approach can handle scenarios with varying contents as we use the same techniques to predict single...
This paper presents a 3D path planning approach for UAV navigation given a mission task specified by a sequence of midway points and required orientation at each point. The approach developed was inspired by the Dubins 2D airplane algorithm. To avoid the difficulty of direct extension to 3D, the heading adjusting is undertaken in horizontal 2D plane at different altitude and the z motion is applied...
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