3 papers
cs.RO2022
Optimization-based Trajectory Tracking Approach for Multi-rotor Aerial Vehicles in Unknown Environments
Geesara Kulathunga, Hany Hamed, Dmitry Devitt +1
The goal of this paper is to develop a continuous optimization-based refinement of the reference trajectory to 'push it out' of the obstacle-occupied space in the global phase for…
cs.RO2020
Path Planning Followed by Kinodynamic Smoothing for Multirotor Aerial Vehicles (MAVs)
Geesara Kulathunga, Dmitry Devitt, Roman Fedorenko +2
We explore path planning followed by kinodynamic smoothing while ensuring the vehicle dynamics feasibility for MAVs. We have chosen a geometrically based motion planning technique…
cs.RO2020
Real-Time Long Range Trajectory Replanning for MAVs in the Presence of Dynamic Obstacles
Geesara Kulathunga, Roman Fedorenko, Sergey Kopylov +1
Real-time long-range local planning is a challenging task, especially in the presence of dynamics obstacles. We propose a complete system which is capable of performing the local r…