Outputs (2)

T-STAR: Time-Optimal Swarm Trajectory Planning for Quadrotor Unmanned Aerial Vehicles (2025)
Journal Article
Pan, H., Zahmatkesh, M., Rekabi-Bana, F., Arvin, F., & Hu, J. (online). T-STAR: Time-Optimal Swarm Trajectory Planning for Quadrotor Unmanned Aerial Vehicles. IEEE Transactions on Intelligent Transportation Systems, https://doi.org/10.1109/TITS.2025.3557783

This paper introduces a time-optimal swarm tra-jectory planner for cooperative unmanned aerial vehicle (UAV) systems, designed to generate collision-free trajectories for flocking control in cluttered environments. To achieve this goal, model predict... Read More about T-STAR: Time-Optimal Swarm Trajectory Planning for Quadrotor Unmanned Aerial Vehicles.

Decentralized Autonomous Navigation of Large-Scale Robotic Swarms with Control Barrier Functions (2025)
Presentation / Conference Contribution
Pan, H., Wang, H., Arvin, F., & Hu, J. (2025, July). Decentralized Autonomous Navigation of Large-Scale Robotic Swarms with Control Barrier Functions. Presented at 2025 IFAC Symposium on Robotics, Paris, France

This paper addresses the shape formation problem for large-scale robotic swarms by proposing an optimization-based cooperative navigation method. First, the physical space is partitioned into multiple disjoint bins, and the stochastic evolution of ro... Read More about Decentralized Autonomous Navigation of Large-Scale Robotic Swarms with Control Barrier Functions.