Related papers: Optimal online escape path against a certificate
Path planning is a classic problem for autonomous robots. To ensure safe and efficient point-to-point navigation an appropriate algorithm should be chosen keeping the robot's dimensions and its classification in mind. Autonomous robots use…
The asymptotically optimal version of Rapidly-exploring Random Tree (RRT*) is often used to find optimal paths in a high-dimensional configuration space. The well-known issue of RRT* is its slow convergence towards the optimal solution. A…
Robots often need to solve path planning problems where essential and discrete aspects of the environment are partially observable. This introduces a multi-modality, where the robot must be able to observe and infer the state of its…
In this paper, we tackle the problem of planning an optimal coverage path for a robot operating indoors. Many existing approaches attempt to discourage turns in the path by covering the environment along the least number of coverage lines,…
Online trajectory planning enables robot manipulators to react quickly to changing environments or tasks. Many robot trajectory planners exist for known environments but are often too slow for online computations. Current methods in online…
This letter presents an approach to guarantee online safety of a cyber-physical system under multiple state and input constraints. Our proposed framework, called gatekeeper, recursively guarantees the existence of an infinite-horizon…
The problem of finding the shortest path for a vehicle visiting a given sequence of target points subject to the motion constraints of the vehicle is an important problem that arises in several monitoring and surveillance applications…
Let $s$ be a source point and $t$ be a destination point inside an $n$-vertex simple polygon $P$. Euclidean shortest paths and minimum-link paths between $s$ and $t$ inside $P$ have been well studied. Both these kinds of paths are simple…
This paper is concerned with finding an optimal path for an observer, or sensor, moving at a constant speed, which is to estimate the position of a stationary target, using only bearing angle measurements. The generated path is optimal in…
The Shortest-Path Problem in Graph of Convex Sets (SPP in GCS) is a recently developed optimization framework that blends discrete and continuous decision making. Many relevant problems in robotics, such as collision-free motion planning,…
In this article, we consider the motion planning of a rigid object on the unit sphere with a unit speed. The motion of the object is constrained by the maximum absolute value, $U_{max}$ of geodesic curvature of its path; this constrains the…
This paper considers a random structure on the lattice $\mathbb{Z}^2$ of the following kind. To each edge $e$ a random variable $X_e$ is assigned, together with a random sign $Y_e \in \{-1,+1\}$. For an infinite self-avoiding path on…
This paper investigates a partial-information pursuit evasion game in which the Pursuer has a limited-range sensor to detect the Evader. Given a fixed final time, we derive the optimal evasion strategy for the Evader to maximize its…
Path planning in dynamic environments is essential to high-risk applications such as unmanned aerial vehicles, self-driving cars, and autonomous underwater vehicles. In this paper, we generate collision-free trajectories for a robot within…
Fast and efficient path generation is critical for robots operating in complex environments. This motion planning problem is often performed in a robot's actuation or configuration space, where popular pathfinding methods such as A*, RRT*,…
We consider the problem of finding an optimal piecewise linear path (polygonal line) connecting two given points with the possibility of making n turns at some points (the absolute value of each turn angle does not exceed a prescribed…
Autonomous high-speed navigation through large, complex environments requires real-time generation of agile trajectories that are dynamically feasible, collision-free, and satisfy state or actuator constraints. Modern trajectory planning…
We address the problem where a mobile search agent seeks to find an unknown number of stationary objects distributed in a bounded search domain, and the search mission is subject to time/distance constraint. Our work accounts for false…
Building structures can allow a robot to surmount large obstacles, expanding the set of areas it can reach. This paper presents a planning algorithm to automatically determine what structures a construction-capable robot must build in order…
In this paper, we investigate the optimal robot path planning problem for high-level specifications described by co-safe linear temporal logic (LTL) formulae. We consider the scenario where the map geometry of the workspace is…