3 accepted papers
We present a method and an open-source implementation (BeBOT) for the generation of trajectories for autonomous system operations using Bernstein polynomials. Bernstein polynomials possess convenient geometric properties that enable the trajectory planner to efficiently evaluate and impose constrain…
In motion planning problems for autonomous robots, such as self-driving cars, the robot must ensure that its planned path is not in close proximity to obstacles in the environment. However, the problem of evaluating the proximity is generally non-convex and serves as a significant computational bott…
This paper tackles the problem of coordinated vision-based tracking of a ground target by a fleet of multiple UAVs that exchange information over a supporting time-varying network. The objective of this work is to formulate decentralized control algorithms that enable multiple vehicles to follow a t…