The complexity of robot motion planning
The complexity of robot motion planning
Robot navigation functions on manifolds with boundary
Advances in Applied Mathematics
Gross motion planning—a survey
ACM Computing Surveys (CSUR)
A Unified Approach to Path Problems
Journal of the ACM (JACM)
Evolutionary Route Planner for Unmanned Air Vehicles
IEEE Transactions on Robotics
Real-time moving target evaluation search
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
Path planning algorithm for VTOL type UAVs based on the methods of ray tracing and limit cycle
CIRA'09 Proceedings of the 8th IEEE international conference on Computational intelligence in robotics and automation
A feedback based CRI approach to fuzzy reasoning
Applied Soft Computing
Simultaneous sensor selection and routing of unmanned aerial vehicles for complex mission plans
Computers and Operations Research
Bi-level programming based real-time path planning for unmanned aerial vehicles
Knowledge-Based Systems
Observability-based local path planning and obstacle avoidance using bearing-only measurements
Robotics and Autonomous Systems
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We propose real-time path planning schemes employing limited information for fully autonomous unmanned air vehicles (UAVs) in a hostile environment. Two main algorithms are proposed under different assumptions on the information used and the threats involved. They consist of several simple (computationally tractable) deterministic rules for real-time applications. The first algorithm uses extremely limited information (only the probabilistic risk in the surrounding area with respect to the UAV's current position) and memory, and the second utilizes more knowledge (the location and strength of threats within the UAV's sensory range) and memory. Both algorithms provably converge to a given target point and produce a series of safe waypoints whose risk is almost less than a given threshold value. In particular, we characterize a class of dynamic threats (so-called, static-dependent threats) so that the second algorithm can efficiently handle such dynamic threats while guaranteeing its convergence to a given target. Challenging scenarios are used to test the proposed algorithms.