In this paper, we address two challenging issues underlying spatial cognitive simulation using software agents immersed in Virtual Geographic Environments (VGE). First, the way to describe virtual VGE models using accurate spatial decomposition approaches structured using graph theory techniques. Second, the use of graph abstraction techniques to realistically support advanced navigation and pa...

This article presents MADER, a 3-D decentralized and asynchronous trajectory planner for UAVs that generates collision-free trajectories in environments with static obstacles, dynamic other planning agents. Real-time collision avoidance obstacles or agents is done by performing outer polyhedral representations of every interval the then including plane separates each pair polyhedra as decision ...

This paper presents PANTHER, a real-time perception-aware (PA) trajectory planner for multirotor-UAVs (Unmanned Aerial Vehicles) in dynamic environments. PANTHER plans trajectories that avoid obstacles while also keeping them the sensor field of view (FOV) and minimizing blur to aid object tracking. The rotation translation UAV are jointly optimized, which allows fully exploit differential flat...