3 citations · 3 across the 8 of their papers we have counts for
9 papers
Trajectory Bundle Method in SE(3) for Black-Box Fixed-Wing Aircraft Trajectory Optimization
Matthew D. Osburn, Cameron K. Peterson, John L. Salmon
Dynamically feasible trajectory optimization for rigid-body systems is naturally formulated on the special Euclidean group SE(3) but is challenging when dynamics are available only…
Interception-Driven Inverse Reachability for Engagement Zone Construction
Grant Stagg, Cameron K. Peterson, Alexander Von Moll +1
In contested environments, autonomous vehicles may need to plan around adversarial pursuers whose launch locations are unknown. This paper presents an interception-driven inverse-r…
Integrated Exploration-Aware UAV Route Optimization and Path Planning
Jimin Choi, Grant Stagg, Cameron K. Peterson +1
Uncrewed aerial vehicles (UAVs) are increasingly used for exploration-driven monitoring in hazardous environments such as disaster zones, contaminated sites, wildfire areas, and da…
Task Allocation and Motion Planning in Dynamic, Cluttered Environments via CBBA and Graphs of Convex Sets
Matthew D. Osburn, Cameron K. Peterson, John L. Salmon
Multi-agent task planning in cluttered, dynamic environments requires assigning tasks to agents while simultaneously determining safe, time-efficient trajectories through the envir…
Inferring Turn-Rate-Limited Engagement Zones with Sacrificial Agents for Safe Trajectory Planning
Grant Stagg, Cameron K. Peterson
This paper presents a learning-based framework for estimating pursuer parameters in turn-rate-limited pursuit-evasion scenarios using sacrificial agents. Each sacrificial agent fol…
Probabilistic Weapon Engagement Zones for a Turn Constrained Pursuer
Grant Stagg, Isaac E. Weintraub, Cameron K. Peterson
Curve-straight probabilistic engagement zones (CSPEZ) quantify the spatial regions an evader should avoid to reduce capture risk from a turn-rate-limited pursuer following a curve-…
Systematic Constraint Formulation and Collision-Free Trajectory Planning Using Space-Time Graphs of Convex Sets
Matthew D. Osburn, Cameron K. Peterson, John L. Salmon
In this paper, we create optimal, collision-free, time-dependent trajectories through cluttered dynamic environments. The many spatial and temporal constraints make finding an init…
Cooperative Multi-Agent Path Planning for Heterogeneous UAVs in Contested Environments
Grant Stagg, Cameron K. Peterson
This paper addresses the challenge of navigating unmanned aerial vehicles in contested environments by introducing a cooperative multi-agent framework that increases the likelihood…
Bi-Level Route Optimization and Path Planning with Hazard Exploration
Jimin Choi, Grant Stagg, Cameron K. Peterson +1
Effective risk monitoring in dynamic environments such as disaster zones requires an adaptive exploration strategy to detect hidden threats. We propose a bi-level unmanned aerial v…