Related papers: Efficient Path Interpolation and Speed Profile Com…
Path planning for a nonholonomic mobile robot is a challenging problem. This paper proposes a novel space adaptive search (SAS) approach that greatly reduces the computation cost of nonholonomic mobile robot path planning. The classic…
In this work, we present a workspace-based planning framework, which though using redundant workspace key-points to represent robot states, can take advantage of the interpretable geometric information to derive good quality collision-free…
Despite the attention that the problem of path planning for tethered robots has garnered in the past few decades, the approaches proposed to solve it typically rely on a discrete representation of the configuration space and do not exploit…
Generating time-optimal, collision-free trajectories for autonomous mobile robots involves a fundamental trade-off between guaranteeing safety and managing computational complexity. State-of-the-art approaches formulate spline-based motion…
Fast and accurate path planning is important for ground robots to achieve safe and efficient autonomous navigation in unstructured outdoor environments. However, most existing methods exploiting either 2D or 2.5D maps struggle to balance…
Autoencoders are important generative models that, among others, have the ability to interpolate image sequences. However, interpolated images are usually not semantically meaningful.In this paper, motivated by dynamic optimal transport, we…
In this paper, we study spline trajectory generation via the solution of two optimisation problems: (i) a quadratic program (QP) with linear equality constraints and (ii) a nonlinear and nonconvex optimisation program. We propose an…
Planning trajectories for nonholonomic systems is difficult and computationally expensive. When facing unexpected events, it may therefore be preferable to deform in some way the initially planned trajectory rather than to re-plan entirely…
This paper proposes a novel and efficient optimization-based method for generating near time-optimal trajectories for holonomic vehicles navigating through complex but structured environments. The approach aims to solve the problem of…
Video frame interpolation aims to synthesize one or multiple frames between two consecutive frames in a video. It has a wide range of applications including slow-motion video generation, frame-rate up-scaling and developing video codecs.…
This work deals with the problem of planning conflict-free paths for mobile robots in cluttered environments. Since centralized, coupled planning algorithms are computationally intractable for large numbers of robots, we consider decoupled…
We study the problem of path planning for unlabeled (indistinguishable) unit-disc robots in a planar environment cluttered with polygonal obstacles. We introduce an algorithm which minimizes the total path length, i.e., the sum of lengths…
Motion planning in the presence of multiple dynamic obstacles is an important research problem from the perspective of autonomous vehicles as well as space-constrained multi-robot work environment. In this paper, we address the motion…
We present a sampling-based framework for multi-robot motion planning which combines an implicit representation of a roadmap with a novel approach for pathfinding in geometrically embedded graphs tailored for our setting. Our pathfinding…
In industrial Internet environments, mobile robots must generate collision-free global routes under stochastic obstacle layouts and random perturbations in commanded linear and angular velocities. This paper models a differential-drive…
Ground robots navigating in complex, dynamic environments must compute collision-free trajectories to avoid obstacles safely and efficiently. Nonconvex optimization is a popular method to compute a trajectory in real-time. However, these…
Soft robots, inspired by elephant trunks or octopus arms, offer extraordinary flexibility to bend, twist, and elongate in ways that rigid robots cannot. However, their motion planning remains a challenge, especially in cluttered…
This paper proposes a novel method of coverage path planning for the purpose of scanning an unstructured environment autonomously. The method uses the morphological skeleton of the prior 2D navigation map via SLAM to generate a sequence of…
Recent advancements in self-driving car technologies have enabled them to navigate autonomously through various environments. However, one of the critical challenges in autonomous vehicle operation is trajectory planning, especially in…
Consider a general path planning problem of a robot on a graph with edge costs, and where each node has a Boolean value of success or failure (with respect to some task) with a given probability. The objective is to plan a path for the…