9 papers
Path Planning and Energy Management of Hybrid Air Vehicles for Urban Air Mobility
Satyanarayana G. Manyam, David W. Casbeer, Swaroop Darbha +2
A novel coupled path planning and energy management problem for a hybrid unmanned air vehicle is considered, where the hybrid vehicle is powered by a dual gas/electric system. Such…
Optimal Geodesic Curvature Constrained Dubins' Paths on a Sphere
Swaroop Darbha, Athindra Pavan, K. R. Rajagopal +3
In this article, we consider the motion planning of a rigid object on the unit sphere with a unit speed. The motion of the object is constrained by the maximum absolute value, $U_{…
Bounds on Optimal Revisit Times in Persistent Monitoring Missions with a Distinct \& Remote Service Station
Sai Krishna Kanth Hari, Sivakumar Rathinam, Swaroop Darbha +3
Persistent monitoring missions require an up-to-date knowledge of the changing state of the underlying environment. UAVs can be gainfully employed to continually visit a set of tar…
Optimal Target Intercept Paths for Vehicles with Turn Radius Constraints
Satyanarayana Gupta Manyam, David Casbeer, Alexander Von Moll +1
We present a path planning problem for a pursuer to intercept a target traveling on a circle. The pursuer considered here has limited yaw rate, and therefore its path should satisf…
Path Planning Algorithms for a Car-Like Robot visiting a set of Waypoints with Field of View Constraints
Sivakumar Rathinam, Satyanarayana Gupta Manyam, Yuntao Zhang
This article considers two variants of a shortest path problem for a car-like robot visiting a set of waypoints. The sequence of waypoints to be visited is specified in the first v…
Persistent Monitoring of Dynamically Changing Environments Using an Unmanned Vehicle
Sai Krishna Kanth Hari, Sivakumar Rathinam, Swaroop Darbha +3
We consider the problem of planning a closed walk for a UAV to persistently monitor a finite number of stationary targets with equal priorities and dynamically changin…