7 accepted papers
We consider a motion planning problem for vehicles with curvature constraints, such as minimum turn radius, and a secondary cost such as resource cost. Traditional motion planning problems address the secondary cost as a soft constraint within the cost function. In the current paper, we take a diffe
For a given set of orbits, the Orbiting Dubins Traveling Salesman Problem (ODTSP) involves finding Dubins tour that is tangential to each orbit at some point. We consider a shortest Arc-to-Arc Dubins (ATAD) path problem that arrives in solving lower bound to the ODTSP. Given an initial and a final a…
In this letter, a variation of the classical Markov-Dubins problem is considered, which deals with curvature-constrained least-cost paths in a plane with prescribed initial and final configurations, different bounds for the sinistral and dextral curvatures, and penalties <inline-formula xmlns:mml="h
A novel coupled path planning and energy management problem for a hybrid unmanned air vehicle is considered, where the hybrid vehicle is powered by a dual gas/electric system. Such an aerial robot is envisioned for use in an urban setting where noise restrictions are in place in certain zones necess
In this paper, we consider a trajectory planning problem where an autonomous vehicle aims to rendezvous with another cooperating vehicle in minimum time. The first vehicle has kinematic constraints, consequently feasible trajectories must have a maximum curvature less than a specified limit. Rendezv…
A multi-player reach-avoid differential game with autonomous aerial robots in the three dimensional space is studied. Two pursuers form a team to guard a target against an evader with the same speed as the pursuers. This letter provides the complete solution of this differential game that resides wi
Providing persistent intelligence, reconnaissance, and surveillance of targets is a challenging, but important task when time-critical information is required. In this letter, we provide a decentralized routing algorithm for coordinating multiple autonomous vehicles as they visit a discrete set of p