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Receding Horizon (RH) control is an established control methodology which has been used successfully for many control applications. More recently it has been applied for autonomous vehicle guidance. Its successful implementation, in particular for applications involving agile vehicles like rotorcraft, hinges on two critical factors: (1) adequately accounting for the vehicle dynamics to guarantee that...
A kind of cooperative dynamic path planning algorithm for multiple UCAVs in dynamic environments is presented. If there is a pop-up threat when UCAVs are enroute to terminal point, the algorithm calculates the value of the threat. If the pop-up threat was a more valuable target, the algorithm assigns the target to one of UCAVs. The UCAV attack the target in time. If the pop-up threat was not a more...
This paper presents a new approach which allows for the computation and optimization of feasible 3D flight trajectories within real time planning deadlines, for unmanned aerial systems (UAS) operating in environments with obstacles present. Sets of candidate flight trajectories have been generated through the application of maneuver automaton theory, where smooth trajectories are formed via the concatenation...
We consider a queueing system composed of queues distributed at fixed locations in a continuous environment and a mobile server serving the jobs in the queues with spatially varying rates. For a fluid model of this system, we provide a necessary and sufficient stabilizability condition. Then we briefly investigate the question of server trajectory optimization for the problem of draining the initial...
In this paper we present two path planning algorithms based on Bezier curves for autonomous vehicles with way points and corridor constraints. Bezier curves have useful properties for the path generation problem. The paper describes how the algorithms apply these properties to generate the reference trajectory for vehicles to satisfy the path constraints. Both algorithms join cubic Bezier curve segments...
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