Related papers: Fast Trajectory Simplification Algorithm for Natur…
This paper presents a method for online trajectory planning in known environments. The proposed algorithm is a fusion of sampling-based techniques and model-based optimization via quadratic programming. The former is used to efficiently…
Precise trajectory tracking for legged robots can be challenging due to their high degrees of freedom, unmodeled nonlinear dynamics, or random disturbances from the environment. A commonly adopted solution to overcome these challenges is to…
We consider the problem of designing a smooth trajectory that traverses a sequence of convex sets in minimum time, while satisfying given velocity and acceleration constraints. This problem is naturally formulated as a nonconvex program. To…
Destination prediction is an essential task in a variety of mobile applications. In this paper, we optimize the matrix operation and adapt a semi-lazy framework to improve the prediction accuracy and efficiency of a state-of-the-art…
Sampling-based motion-planning algorithms typically rely on nearest-neighbor (NN) queries when constructing a roadmap. Recent results suggest that in various settings NN queries may be the computational bottleneck of such algorithms.…
This paper presents a global trajectory optimization framework for minimizing lap time in autonomous racing under uncertain vehicle dynamics. Optimizing the trajectory over the full racing horizon is computationally expensive, and tracking…
Most existing motion planning algorithms assume that a map (of some quality) is fully determined prior to generating a motion plan. In many emerging applications of robotics, e.g., fast-moving agile aerial robots with constrained embedded…
We consider trajectory optimal control problems in which parameter uncertainty limits the applicability of control trajectories computed prior to travel. Hence, efficient trajectory adjustment is needed to ensure successful travel. However,…
We study object motion path editing in videos, where the goal is to alter a target object's trajectory while preserving the original scene content. Unlike prior video editing methods that primarily manipulate appearance or rely on…
Clustering is an essential data mining tool for analyzing and grouping similar objects. In big data applications, however, many clustering algorithms are infeasible due to their high memory requirements and/or unfavorable runtime…
Local navigation is one of the fundamental problems in robot navigation, and numerous approaches have been proposed over the years, including methods such as the Dynamic Window Approach, Model Predictive Control, and more recently, Control…
Effective close-proximity human-robot interaction (CP-HRI) requires robots to be able to both efficiently perform tasks as well as adapt to human behavior and preferences. However, this ability is mediated by many, sometimes competing,…
The optimal transport problem has many applications in machine learning, physics, biology, economics, etc. Although its goal is very clear and mathematically well-defined, finding its optimal solution can be challenging for large datasets…
In recent years, several progressive works promote the development of aerial tracking. One of the representative works is our previous work Fast-tracker which is applicable to various challenging tracking scenarios. However, it suffers from…
This paper presents a novel algorithm, called MRRT, which uses multiple rapidly-exploring random trees for fast online replanning of autonomous vehicles in dynamic environments with moving obstacles. The proposed algorithm is built upon the…
Soft robots have the potential to interact with sensitive environments and perform complex tasks effectively. However, motion plans and trajectories for soft manipulators are challenging to calculate due to their deformable nature and…
As robotic systems continue to address emerging issues in areas such as logistics, mobility, manufacturing, and disaster response, it is increasingly important to rapidly generate safe and energy-efficient trajectories. In this article, we…
As large volumes of trajectory data accumulate, simplifying trajectories to reduce storage and querying costs is increasingly studied. Existing proposals face three main problems. First, they require numerous iterations to decide which GPS…
This paper addresses the problem of secure data reconstruction for unknown systems, where data collected from the system are susceptible to malicious manipulation. We aim to recover the real trajectory without prior knowledge of the system…
In previous work we introduced a trajectory detection module that can provide summarized representations of vessel trajectories by consuming AIS positional messages online. This methodology can provide reliable trajectory synopses with…