6 papers
Minimum Time Dubins Airplane Paths with Asymmetric Climb Rates
Jaeyoung Lim, Giuseppe Loianno
Dubins airplane paths approximate the limited maneuverability of fixed-wing vehicles with minimum curvature and climb rate constraints. However, the symmetric climb rate constraint…
Towards Robust Optimization-Based Autonomous Dynamic Soaring with a Fixed-Wing UAV
Marvin Harms, Jaeyoung Lim, David Rohr +3
Dynamic soaring is a flying technique to exploit the energy available in wind shear layers, enabling potentially unlimited flight without the need for internal energy sources. We p…
DreamFlow: Local Navigation Beyond Observation via Conditional Flow Matching in the Latent Space
Jiwon Park, Dongkyu Lee, I Made Aswin Nahrendra +2
Local navigation in cluttered environments often suffers from dense obstacles and frequent local minima. Conventional local planners rely on heuristics and are prone to failure, wh…
Towards Open-Source and Modular Space Systems with ATMOS
Pedro Roque, Sujet Phodapol, Elias Krantz +11
In the near future, autonomous space systems will compose many of the deployed spacecraft. Their tasks will involve autonomous rendezvous and proximity operations with large struct…
Safe Periodic Trochoidal Paths for Fixed-Wing UAVs in Confined Windy Environments
Jaeyoung Lim, David Rohr, Thomas Stastny +1
Due to their energy-efficient flight characteristics, fixed-wing type UAVs are useful robotic tools for long-range and duration flight applications in large-scale environments. How…
Geometric Tracking Control of Omnidirectional Multirotors for Aggressive Maneuvers
Hyungyu Lee, Sheng Cheng, Zhuohuan Wu +3
An omnidirectional multirotor has the maneuverability of decoupled translational and rotational motions, superseding the traditional multirotors' motion capability. Such maneuverab…