Výsledky vyhledávání - "Kulathunga, Geesara"

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Residual Dynamics Learning for Trajectory Tracking for Multi-rotor Aerial Vehicles

Autor: Kulathunga, Geesara, Hamed, Hany, Klimchik, Alexandr

This paper presents a technique to cope with the gap between high-level planning, e.g., reference trajectory tracking, and low-level controlling using a learning-based method in the plan-based control paradigm. The technique improves the smoothness o

Externí odkaz: http://arxiv.org/abs/2305.15791

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Motion Planning for Multirotor Aerial Vehicles in Plan-based Control Paradigm: a Review

Autor: Kulathunga, Geesara, Klimchik, Alexandr

In general, optimal motion planning can be performed both locally and globally. In such a planning, the choice in favour of either local or global planning technique mainly depends on whether the environmental conditions are dynamic or static. Hence,

Externí odkaz: http://arxiv.org/abs/2208.14647

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Optimization-based Trajectory Tracking Approach for Multi-rotor Aerial Vehicles in Unknown Environments

Autor: Kulathunga, Geesara, Hamed, Hany, Devitt, Dmitry, Klimchik, Alexandr

The goal of this paper is to develop a continuous optimization-based refinement of the reference trajectory to 'push it out' of the obstacle-occupied space in the global phase for Multi-rotor Aerial Vehicles in unknown environments. Our proposed appr

Externí odkaz: http://arxiv.org/abs/2202.06056

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A Reinforcement Learning based Path Planning Approach in 3D Environment

Autor: Kulathunga, Geesara

Optimal motion planning involves obstacles avoidance where path planning is the key to success in optimal motion planning. Due to the computational demands, most of the path planning algorithms can not be employed for real-time based applications. Mo

Externí odkaz: http://arxiv.org/abs/2105.10342

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Path Planning Followed by Kinodynamic Smoothing for Multirotor Aerial Vehicles (MAVs)

Autor: Kulathunga, Geesara, Devitt, Dmitry, Fedorenko, Roman, Savin, Sergei, Klimchik, Alexandr

We explore path planning followed by kinodynamic smoothing while ensuring the vehicle dynamics feasibility for MAVs. We have chosen a geometrically based motion planning technique \textquotedblleft RRT*\textquotedblright\; for this purpose. In the pr

Externí odkaz: http://arxiv.org/abs/2008.12950

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Real-Time Long Range Trajectory Replanning for MAVs in the Presence of Dynamic Obstacles

Autor: Kulathunga, Geesara, Fedorenko, Roman, Kopylov, Sergey, Klimchik, Alexandr

Real-time long-range local planning is a challenging task, especially in the presence of dynamics obstacles. We propose a complete system which is capable of performing the local replanning in real-time. Desired trajectory is needed in the system ini

Externí odkaz: http://arxiv.org/abs/2001.03605

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