David W. Casbeer
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View article: A Novel Model for 3D Motion Planning for a Generalized Dubins Vehicle with Pitch and Yaw Rate Constraints
A Novel Model for 3D Motion Planning for a Generalized Dubins Vehicle with Pitch and Yaw Rate Constraints Open
In this paper, we propose a new modeling approach and a fast algorithm for 3D motion planning, applicable for fixed-wing unmanned aerial vehicles. The goal is to construct the shortest path connecting given initial and final configurations…
View article: Mutual Support by Sensor-Attacker Team for a Passive Target
Mutual Support by Sensor-Attacker Team for a Passive Target Open
We introduce a pursuit game played between a team of a sensor and an attacker and a mobile target in the unbounded Euclidean plane. The target is faster than the sensor, but slower than the attacker. The sensor's objective is to keep the t…
View article: Generation of Paths for Motion Planning for a Dubins Vehicle on Sphere
Generation of Paths for Motion Planning for a Dubins Vehicle on Sphere Open
In this article, the candidate optimal paths for a Dubins vehicle on a sphere are analytically derived. In particular, the arc angles for segments in $CGC$, $CCC$, $CCCC$, and $CCCCC$ paths, which have previously been shown to be optimal d…
View article: One-vs-one Threat-Aware Weaponeering with Basic Engagement Zones
One-vs-one Threat-Aware Weaponeering with Basic Engagement Zones Open
In this paper we address the problem of 'weaponeering', i.e., placing the weapon engagement zone (WEZ) of a vehicle on a moving target, while simultaneously avoiding the target's WEZ. A WEZ describes the lethality region of a range-limited…
View article: Mutual Support by Sensor-Attacker Team for a Passive Target
Mutual Support by Sensor-Attacker Team for a Passive Target Open
We introduce a pursuit game played between a team of a sensor and an attacker and a mobile target in the unbounded Euclidean plane. The target is faster than the sensor, but slower than the attacker. The sensor’s objective is to keep the t…
View article: Event-Triggered Control for Nonlinear Systems: Norm-Free State Data and Norm-Based Control Data Scheduling
Event-Triggered Control for Nonlinear Systems: Norm-Free State Data and Norm-Based Control Data Scheduling Open
View article: Cooperative Pursuit-Evasion Games With a Flat Sphere Condition
Cooperative Pursuit-Evasion Games With a Flat Sphere Condition Open
In planar pursuit-evasion differential games considering a faster pursuer and a slower evader, the interception points resulting from equilibrium strategies lie on the Apollonius circle. This property is instrumental for leveraging geometr…
View article: Maximum Kinetic Energy Paths for a Decaying-Speed Dubins Vehicle
Maximum Kinetic Energy Paths for a Decaying-Speed Dubins Vehicle Open
View article: Min-Time Escape of a Dubins Car from a Polygon
Min-Time Escape of a Dubins Car from a Polygon Open
A turn constrained vehicle is initially located inside a polygon region and desires to escape in minimum time. First, the method of characteristics is used to describe the time-optimal strategies for reaching a line of infinite length. Nex…
View article: Generalization of Optimal Geodesic Curvature Constrained Dubins' Path on Sphere with Free Terminal Orientation
Generalization of Optimal Geodesic Curvature Constrained Dubins' Path on Sphere with Free Terminal Orientation Open
In this paper, motion planning for a Dubins vehicle on a unit sphere to attain a desired final location is considered. The radius of the Dubins path on the sphere is lower bounded by $r$. In a previous study, this problem was addressed, wh…
View article: Equivalence of Dubins Path on Sphere with Geographic Coordinates and Moving Frames
Equivalence of Dubins Path on Sphere with Geographic Coordinates and Moving Frames Open
In this article, two methods of addressing path planning for a Dubins vehicle moving on a sphere are considered, wherein either spherical coordinates or a moving frame are considered to describe the vehicle's motion. The primary contributi…
View article: Multi Agent Pathfinding for Noise Restricted Hybrid Fuel Unmanned Aerial Vehicles
Multi Agent Pathfinding for Noise Restricted Hybrid Fuel Unmanned Aerial Vehicles Open
Multi Agent Path Finding (MAPF) seeks the optimal set of paths for multiple agents from respective start to goal locations such that no paths conflict. We address the MAPF problem for a fleet of hybrid-fuel unmanned aerial vehicles which a…
View article: Pursuit-Evasion on a Sphere and When It Can Be Considered Flat
Pursuit-Evasion on a Sphere and When It Can Be Considered Flat Open
In classical works on a planar differential pursuit-evasion game with a faster pursuer, the intercept point resulting from the equilibrium strategies lies on the Apollonius circle. This property was exploited for the construction of the eq…
View article: Linear Quadratic Guidance Law for Joint Motion Planning of a Pursuer-Turret Assembly
Linear Quadratic Guidance Law for Joint Motion Planning of a Pursuer-Turret Assembly Open
This paper presents joint motion planning of a vehicle with an attached rotating turret. The turret has a limited range as well as the field of view. The objective is capture a maneuvering target such that at the terminal time it is within…
View article: Shortest Trajectory of a Dubins Vehicle with a Controllable Laser
Shortest Trajectory of a Dubins Vehicle with a Controllable Laser Open
We formulate a novel planar motion planning problem for a Dubins-Laser system that consists of a Dubins vehicle with an attached controllable laser. The vehicle moves with unit speed and the laser, having a finite range, can rotate in a cl…
View article: Sampling-Based Risk-Aware Path Planning Around Dynamic Engagement Zones
Sampling-Based Risk-Aware Path Planning Around Dynamic Engagement Zones Open
Existing methods for avoiding dynamic engagement zones (EZs) and minimizing risk leverage the calculus of variations to obtain optimal paths. While such methods are deterministic, they scale poorly as the number of engagement zones increas…
View article: Noise Aware Path Planning and Power Management of Hybrid Fuel UAVs
Noise Aware Path Planning and Power Management of Hybrid Fuel UAVs Open
Hybrid fuel Unmanned Aerial Vehicles (UAV), through their combination of multiple energy sources, offer several advantages over the standard single fuel source configuration, the primary one being increased range and efficiency. Multiple p…
View article: Control Structure-Agnostic Event-Triggering
Control Structure-Agnostic Event-Triggering Open
View article: Sampling-Based Risk-Aware Path Planning Around Dynamic Engagement Zones
Sampling-Based Risk-Aware Path Planning Around Dynamic Engagement Zones Open
View article: Assisted Path Planning for a UGV-UAV Team Through a Stochastic Network
Assisted Path Planning for a UGV-UAV Team Through a Stochastic Network Open
In this article, we consider a multi-agent path planning problem in a stochastic environment. The environment, which can be an urban road network, is represented by a graph where the travel time for selected road segments (impeded edges) i…
View article: Optimal Geodesic Curvature Constrained Dubins' Path on Sphere with Free Terminal Orientation
Optimal Geodesic Curvature Constrained Dubins' Path on Sphere with Free Terminal Orientation Open
In this paper, motion planning for a vehicle moving on a unit sphere with\nunit speed is considered, wherein the desired terminal location is fixed, but\nthe terminal orientation is free. The motion of the vehicle is modeled to be\nconstra…
View article: Escape from an Orbiting Pursuer with a Nonzero Capture Radius
Escape from an Orbiting Pursuer with a Nonzero Capture Radius Open
This paper explores a multi-agent containment problem, where a fast evader, modeled having constant speed and using constant heading, attempts to escape a circular containment region that is orbited by a slower pursuer with a nonzero captu…
View article: Minimal Energy Routing of a Leader and a Wingmate with Periodic Connectivity
Minimal Energy Routing of a Leader and a Wingmate with Periodic Connectivity Open
We consider a route planning problem in which two unmanned vehicles are required to complete a set of tasks present at distinct locations, referred to as targets, with minimum energy consumption. The mission environment is hazardous, and t…
View article: Virtual Target Selection for a Multiple-Pursuer Multiple-Evader Scenario
Virtual Target Selection for a Multiple-Pursuer Multiple-Evader Scenario Open
This paper considers an M-pursuer N-evader scenario involving virtual targets. The virtual targets serve as an intermediary target for the pursuers, allowing the pursuers to delay their final assignment to the evaders. However, upon reachi…
View article: Competitive perimeter defense with a turret and a mobile vehicle
Competitive perimeter defense with a turret and a mobile vehicle Open
We consider perimeter defense problem in a planar conical environment with two cooperative heterogeneous defenders, i.e., a turret and a mobile vehicle, that seek to defend a concentric perimeter against mobile intruders. Arbitrary numbers…
View article: Perimeter Defense using a Turret with Finite Range and Service Times
Perimeter Defense using a Turret with Finite Range and Service Times Open
We consider a perimeter defense problem in a planar conical environment comprising a single turret that has a finite range and non-zero service time. The turret seeks to defend a concentric perimeter against $N\geq 2$ intruders. Upon relea…
View article: Development of Linear Battery Model for Path Planning with Mixed Integer Linear Programming: Simulated and Experimental Validation
Development of Linear Battery Model for Path Planning with Mixed Integer Linear Programming: Simulated and Experimental Validation Open
Mixed Integer Linear Programs (MILPs) are often used in the path planning of both ground and aerial vehicles. Such a formulation of the path planning problem requires a linear objective function and constraints, limiting the fidelity of th…
View article: A switching composition of horizontal and vertical controllers for a UAV to reach a 3D waypoint
A switching composition of horizontal and vertical controllers for a UAV to reach a 3D waypoint Open
The aim of this paper is to explore potential of feedback control design based on a switching composition of two controllers. The paper considers two stochastic optimal controllers for the motion of an unmanned aerial vehicle (UAV) in the …
View article: Optimal Generator Policy for Hybrid Fuel UAV under Airspace Noise Restrictions
Optimal Generator Policy for Hybrid Fuel UAV under Airspace Noise Restrictions Open
Here we study an optimal control problem involving energy management of a hybrid-fuel Unmanned Aerial Vehicle (UAV). The planning problem for a hybrid-fuel platform involves determining the path while managing the energy resources, which i…
View article: Development of Linear Battery Model for Path Planning with Mixed Integer Linear Programming: Simulated and Experimental Validation
Development of Linear Battery Model for Path Planning with Mixed Integer Linear Programming: Simulated and Experimental Validation Open
Mixed Integer Linear Programs (MILPs) are often used in the path planning of both ground and aerial vehicles. Such a formulation of the path planning problem requires a linear objective function and constraints, limiting the fidelity of th…