Late Line-of-Sight Check and Prioritized Trees for Path Planning

Optimizing Schedules for Prioritized Path Planning of Multi-Robot Systems

The coordination of the motions of the robots is one of the fundamental problems for multi-robot systems. A popular approach to avoid planning in the high-dimensional composite configuration space are prioritized and decoupled techniques. While these methods are very efficient, they have two major drawbacks. First, they are incomplete, i.e. they sometimes fail to find a solution even if one exi...

Line-of-Sight Guidance for Path Following of Marine Vehicles

This paper presents an overview of the Line-of-Sight (LOS) guidance law, which is a widely used method for generating heading reference trajectories, for path-following applications of marine vehicles. Due to the fact that these reference trajectories depend also on the form of the path, five path evaluation criteria are discussed. The guidance problem is presented in a constructive manner. Fir...

Line-of-sight Path following of Underactuated Marine Craft

A 3 degrees of freedom (surge, sway, and yaw) nonlinear controller for path following of marine craft using only two controls is derived using nonlinear control theory. Path following is achieved by a geometric assignment based on a line-of-sight projection algorithm for minimization of the cross-track error to the path. The desired speed along the path can be specified independently. The contr...

Planning Non-Line-of-Sight Wireless Backhaul Networks

Rapidly-Exploring Random Trees: A New Tool for Path Planning