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Autonomous navigation is a pre-requisite for field robots to carry out precision agriculture tasks. Typically, a robot has to navigate through a whole crop field several times during a season for monitoring the plants, for applying…
Robot path planning model based on RNN and visual quality evaluation in the context of crowds is analyzed in this paper. Mobile robot path planning is the key to robot navigation and an important field in robot research. Let the motion…
Inspired by research in psychology, we introduce a behavioral approach for visual navigation using topological maps. Our goal is to enable a robot to navigate from one location to another, relying only on its visual input and the…
An algorithm for robot formation path planning is presented in this paper. Given a map of the working environment, the algorithm finds a path for a formation taking into account possible split of the formation and its consecutive merge. The…
This paper proposes a combined optimization and learning method for impact-friendly, non-prehensile catching of objects at non-zero velocity. Through a constrained Quadratic Programming problem, the method generates optimal trajectories up…
We propose a real-time implementable motion planning framework for cooperative object transportation by nonholonomic mobile manipulator robots (MMRs) in dynamic environments. Our global planner finds a path from start to goal through the…
Motion planning for autonomous vehicles requires generating collision-free and dynamically feasible trajectories in complex environments under real-time constraints. While nonlinear optimal control formulations provide high-fidelity…
Warehouse logistics robots will work in different warehouse environments. In order to enable robots to perceive environment and plan path faster without modifying existing warehouses, we uses monocular camera to achieve an efficient robot…
Optimization-based trajectory generation methods are widely used in whole-body planning for robots. However, existing work either oversimplifies the robot's geometry and environment representation, resulting in a conservative trajectory, or…
We propose a learning-based navigation system for reaching visually indicated goals and demonstrate this system on a real mobile robot platform. Learning provides an appealing alternative to conventional methods for robotic navigation:…
Optimization based motion planning provides a useful modeling framework through various costs and constraints. Using Graph of Convex Sets (GCS) for trajectory optimization gives guarantees of feasibility and optimality by representing…
This paper presents a novel approach to improving autonomous vehicle control in environments lacking clear road markings by integrating a diffusion-based motion predictor within an Active Inference Framework (AIF). Using a simulated parking…
This work uses vector field inequalities (VFI) to prevent robot self-collisions and collisions with the workspace. Differently from previous approaches, the method is suitable for both velocity and torque-actuated robots. We propose a new…
An open problem in robotics is that of using vision to identify a robot's own body and the world around it. Many models attempt to recover the traditional C-space parameters. Instead, we propose an alternative C-space by deriving…
his paper presents a simple approach for drone navigation to follow a predetermined path using visual input only without reliance on a Global Positioning System (GPS). A Convolutional Neural Network (CNN) is used to output the steering…
This paper addresses planning and control of robot motion under uncertainty that is formulated as a continuous-time, continuous-space stochastic optimal control problem, by developing a topology-guided path integral control method. The path…
There is a growing demand for autonomous mobile robots capable of navigating unstructured agricultural environments. Tasks such as weed control in meadows require efficient path planning through an unordered set of coordinates while…
In this paper a geometric approach to the trajectory tracking control of Unmanned Aerial Vehicles with thrust vectoring capabilities is proposed. The control design is suitable for aerial systems that allow to effectively decouple position…
One of the most important barriers toward a widespread use of mobile robots in unstructured and human populated work environments is the ability to plan a safe path. In this paper, we propose to delegate this activity to a human operator…
Proper path planning is the first step of robust and efficient autonomous navigation for mobile robots. Meanwhile, it is still challenging for robots to work in a complex environment without complete prior information. This paper presents…