Related papers: Efficient Path Interpolation and Speed Profile Com…
We consider the problem of optimal path planning in different homotopy classes in a given environment. Though important in robotics applications, path-planning with reasoning about homotopy classes of trajectories has typically focused on…
The goal of traffic management is efficiently utilizing network resources via adapting of source sending rates and routes selection. Traditionally, this problem is formulated into a utilization maximization problem. The single-path routing…
The distinctive feature of a polynomial parametric speed let polynomial Pythagorean-hodograph (PH) curves be attractive for the design of accurate and efficient application algorithms. We propose a robust path following scheme for the…
Planning problems are hard, motion planning, for example, isPSPACE-hard. Such problems are even more difficult in the presence of uncertainty. Although, Markov Decision Processes (MDPs) provide a formal framework for such problems, finding…
The interception of moving targets is a widely studied issue. In this paper, we propose an algorithm of intercepting the moving target with a wheeled mobile robot in a dynamic environment. We first predict the future position of the target…
Navigating rigid body objects through crowded environments can be challenging, especially when narrow passages are presented. Existing sampling-based planners and optimization-based methods like mixed integer linear programming (MILP)…
Constrained Motion Planning (CMP) aims to find a collision-free path between the given start and goal configurations on the kinematic constraint manifolds. These problems appear in various scenarios ranging from object manipulation to…
This paper presents a Riemannian metric-based model to solve the optimal path planning problem on two-dimensional smooth submanifolds in high-dimensional space. Our model is based on constructing a new Riemannian metric on a two-dimensional…
Particle tracing through numerical integration is a well-known approach to generating pathlines for visualization. However, for particle simulations, the computation of pathlines is expensive, since the interpolation method is complicated…
In recent years, mobile robots are becoming ambitious and deployed in large-scale scenarios. Serving as a high-level understanding of environments, a sparse skeleton graph is beneficial for more efficient global planning. Currently,…
We propose a novel algorithm to solve multi-robot motion planning (MRMP) rapidly, called Simultaneous Sampling-and-Search Planning (SSSP). Conventional MRMP studies mostly take the form of two-phase planning that constructs roadmaps and…
An emerging class of trajectory optimization methods enforces collision avoidance by jointly optimizing the robot's configuration and a separating hyperplane. However, as linear separators only apply to convex sets, these methods require…
There are many challenges for robot navigation in densely populated dynamic environments. This paper presents a survey of the path planning methods for robot navigation in dense environments. Particularly, the path planning in the…
The main objective of this paper is to provide a tool for performing path planning at the servo level of a mobile robot. The ability to perform, in a provably correct manner, such a complex task at the servo level can lead to a large…
Recent road trials have shown that guaranteeing the safety of driving decisions is essential for the wider adoption of autonomous vehicle technology. One promising direction is to pose safety requirements as planning constraints in…
Stochastic nonconvex optimization problems with nonlinear constraints have a broad range of applications in intelligent transportation, cyber-security, and smart grids. In this paper, first, we propose an inexact-proximal accelerated…
Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…
In this paper, we propose an intermittent communication framework for mobile robot networks. Specifically, we consider robots that move along the edges of a connected mobility graph and communicate only when they meet at the nodes of that…
Motion planning is a fundamental problem in autonomous robotics that requires finding a path to a specified goal that avoids obstacles and takes into account a robot's limitations and constraints. It is often desirable for this path to also…
In this paper we present a method for automatically planning robust optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition…