Planning the path of an autonomous, agile vehicle in a dynamic environment is very complex problem, especially when required to use its full maneuvering capabilities. Recent efforts aimed at using randomized algorithms for planning kinematic and vehicles have demonstrated considerable potential implementation on future autonomous platforms. This paper builds upon these by proposing architecture dynamical systems presence fixed moving obstacles. addresses constraints vehicle's motion, it...

This paper presents a new approach to fuel-optimal path planning of multiple vehicles using combination linear and integer programming. The basic problem formulation is have the move from an initial dynamic state final without colliding with each other, while at same time avoiding other stationary moving obstacles. It shown that this can be rewritten as program mixed integer/linear constraints account for collision avoidance. A key benefit optimization readily solved CPLEX software...

Amethod for e nding fuel-optimal trajectoriesfor spacecraft subjected to avoidancerequirements is introduced. These include avoidance of collisions with obstacles or other vehicles and prevention thruster plumes from one impinging on another spacecraft. The necessary logical constraints are appended a fuel-optimizinglinearprogramby includingbinaryvariablesin theoptimization.Theresulting problem isa mixedintegerlinearprogram (MILP)thatcan besolved using availablesoftware. Thelogical can also...

The purpose of this paper is to give a historical view linear matrix inequalities in control and system theory. Not surprisingly, it appears that LMIs have been,involved some the major events With advent powerful convex optimization techniques, are now about become an important practical tool for future applications.

In this paper, we introduce an approach for the efficient solution of motion-planning problems time-invariant dynamical control systems with symmetries, such as mobile robots and autonomous vehicles, under a variety differential algebraic constraints on state inputs. Motion plans are described concatenation number well-defined motion primitives, selected from finite library. Rules primitives given in form regular language, defined through finite-state machine called Maneuver Automaton. We...

In this paper, the problem of robust stability systems subject to parametric uncertainties is considered. Sufficient conditions for existence parameter-dependent Lyapunov functions are given in terms a criterion which reminiscent of, but less conservative than, Popov's criterion. An equivalent frequency-domain demonstrated. The relative sharpness proposed test and existing criteria then discussed. use controller synthesis It shown that search robustly stabilizing controllers may be limited...

This paper considers the problem of solving conflicts arising among several aircraft that are assumed to move in a shared airspace. Aircraft can not get closer each other than given safety distance order avoid possible between different airplanes. For such system multiple aircraft, we consider path planning waypoints avoiding all conflicts. In particular interested optimal paths, i.e., want minimize total flight time. We propose two formulations multiaircraft conflict avoidance as...

This paper describes the Robotarium -a remotely accessible, multi-robot research facility.The impetus behind is that testbeds constitute an integral and essential part of cycle, yet they are expensive, complex, time-consuming to develop, operate, maintain.These resource constraints, in turn, limit access for large groups researchers students, which what remedying by providing users with remote a state-of-the-art test facility.This details design operation discusses considerations one must...

This paper presents a framework aimed at monitoring the behavior of aircraft in given airspace. Trajectories that constitute typical operations are determined and learned using data-driven methods. Standard procedures used by air traffic controllers (ATCs) to guide aircraft, ensure safety airspace, maximize runway occupancy. Even though standard ATCs, control remains with pilots, leading large variability flight patterns observed. Two methods for identifying their from recorded radar tracks...

The operation of an autonomous vehicle in unknown, dynamic environment is a very complex problem, especially when the required to use its full maneuvering capabilities, and react real time changes operational environment. A possible approach reduce computational complexity motion planning problem for nonlinear, high dimensional system, based on quantization system dynamics, leading control architecture hybrid automaton, states which represent feasible trajectory primitives vehicle. paper...

In this paper we present a tracking controller for class of underactuated mechanical systems, based on backstepping procedure. This includes an approximation small helicopter dynamics. The need to avoid artificial singularities due the attitude representation is main driver behind control design presented in paper: achieve goal, will operate directly configuration manifold vehicle. provides asymptotic approximate model helicopters, and bounded when more complete models are considered....

This paper extends a recently developed approach to optimal path planning of autonomous vehicles, based on mixed integer linear programming (MILP), account for safety. We consider the case single vehicle navigating through cluttered environment which is only known within certain detection radius around vehicle. A receding horizon strategy presented with hard terminal constraints that guarantee feasibility MILP problem at all future time steps. The trajectory computed each iteration...

This paper presents a framework for provably safe decentralized trajectory planning of multiple (autonomous) aircraft. Each aircraft plans its individually using receding horizon strategy based on mixed integer linear programming (MILP). A constrained, inertial, first-order model is used to capture the dynamics and kinematics vehicle. Safety guaranteed by maintaining, at each time step, dynamically feasible that terminates in loiter pattern. Conflicts between are resolved sequential,...

We study the traveling salesman problem for a Dubins vehicle. prove that this is NP-hard, and provide lower bounds on approximation ratio achievable by some recently proposed heuristics. also describe new algorithms based heading discretization, evaluate their performance numerically.

This paper presents initial results towards a realizable framework for the safety critical controlled invariance of cyber-physical systems. The main contribution this is development control barrier function based methodology which can be used to enforce set on systems in presence non-linear disturbances and uncertainty. first part work review current methods available finding viable sets how they are linked practical choices regarding safety. Their limitations directions improvements when it...

The COVID-19 pandemic has had a significant impact on the air transportation system worldwide. This paper aims at analyzing effect of travel restriction measures implemented during from passenger perspective US system. Four metrics based data generated by passengers and airlines social media are proposed to measure how impacted relation between in close real-time. indicate that each airline reacted differently perspective, therefore they can be used improve their decision making process....

The accuracy of sensor measurements is critical to the design high-performance control systems since uncertainties can significantly deteriorate achievable closed-loop dynamical system performance. Sensor uncertainty arise due low quality, failure or detrimental environmental conditions. For example, relatively cheap suites are used for low-cost, small-scale unmanned vehicle applications that result in inaccurate measurements. Alternatively, also be corrupted by malicious attacks if...

Run Time Assurance (RTA) Systems are online verification mechanisms that filter an unverified primary controller output to ensure system safety. The control may come from a human operator, advanced approach, or autonomous approach cannot be verified the same level as simpler systems designs. critical feature of RTA is their ability alter unsafe inputs explicitly assure In many cases, can functionally described containing monitor watches state and controller, backup replaces modifies input...

A wide variety of problems in systems and control theory can be cast or recast as convex that involve linear matrix inequalities (LMIs). For a few very special cases there are "analytical solutions" to these problems, but general they solved numerically efficiently. In many the have form simultaneous Lyapunov algebraic Riccati inequalities; such time is comparable required solve same number Algebraic equations. Therefore computational cost extending current based on solution equations...

This paper aims to provide reliable indications of driver drowsiness based on the characteristics driver-vehicle interaction. A test bed was built under a simulated driving environment, and total 12 subjects participated in two experiment sessions requiring different levels sleep (partial sleep-deprivation versus no sleep-deprivation) before experiment. The performance analyzed series stimulus-response routine tasks, which revealed differences drivers levels. experiments further demonstrated...

We present the vision-based estimation and control of a quadrotor vehicle using single camera relative to novel target that incorporates use moire patterns. The objective is acquire six degree freedom essential for operation vehicles in close proximity other craft landing platforms. A contains markers determine its orientation locate two sets orthogonal patterns at difierent frequencies. mounted on with fleld view. An algorithm processes images, extracting attitude position information...

Motivated by the type of missions currently performed unmanned aerial vehicles, we investigate a discrete dynamic vehicle routing problem with potentially large number targets and vehicles. Each target is modeled as an independent two-state Markov chain, whose state not observed if visited some vehicle. The goal for vehicles to collect rewards obtained when they visit in particular state. This can be seen restless bandits partial information. We compute upper bound on achievable performance...