6 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…
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…
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
This letter considers two variants of a shortest path problem for a car-like robot visiting a set of waypoints. The sequence of waypoints to be visited is specified in the first variant while the robot is allowed to visit the waypoints in any sequence in the second variant. The shortest path problem