Related papers: A Computationally Efficient Algorithm to Find Time…
We present parametric trajectory optimization, a method for simultaneously computing physical parameters, actuation requirements, and robot motions for more efficient robot designs. In this scheme, robot dimensions, masses, and other…
Model predictive control (MPC) has established itself as the primary methodology for constrained control, enabling general-purpose robot autonomy in diverse real-world scenarios. However, for most problems of interest, MPC relies on the…
This paper proposes a preliminary work on a Conditional Task and Motion Planning algorithm able to find a plan that minimizes robot efforts while solving assigned tasks. Unlike most of the existing approaches that replan a path only when it…
Widespread development of driverless vehicles has led to the formation of autonomous racing, where technological development is accelerated by the high speeds and competitive environment of motorsport. A particular challenge for an…
Motion trajectory planning is one crucial aspect for automated vehicles, as it governs the own future behavior in a dynamically changing environment. A good utilization of a vehicle's characteristics requires the consideration of the…
With the recent influx in demand for multi-robot systems throughout industry and academia, there is an increasing need for faster, robust, and generalizable path planning algorithms. Similarly, given the inherent connection between control…
This paper is concerned with determining the shortest path for a pursuer aiming to intercept a moving target travelling at a constant speed. To address this challenge, we introduce an efficient mathematical model outlined as an optimal…
Autonomous vehicles are the upcoming solution to most transportation problems such as safety, comfort and efficiency. The steering control is one of the main important tasks in achieving autonomous driving. Model predictive control (MPC) is…
This article introduces a numerical algorithm that serves as a preliminary step toward solving continuous-time model predictive control (MPC) problems directly without explicit time-discretization. The chief ingredients of the underlying…
The computation of time-optimal velocity profiles along prescribed paths, subject to generic acceleration constraints, is a crucial problem in robot trajectory planning, with particular relevance to autonomous racing. However, the existing…
The problem of optimal motion planing and control is fundamental in robotics. However, this problem is intractable for continuous-time stochastic systems in general and the solution is difficult to approximate if non-instantaneous nonlinear…
This letter presents a novel multi-robot task allocation and path planning method that considers robots' maximum range constraints in large-sized workspaces, enabling robots to complete the assigned tasks within their range limits. Firstly,…
In this work, we provide faster algorithms for approximating the optimal transport distance, e.g. earth mover's distance, between two discrete probability distributions $\mu, \nu \in \Delta^n$. Given a cost function $C : [n] \times [n] \to…
Dynamic and continuous jumping remains an open yet challenging problem in bipedal robot control. Real-time planning with full body dynamics over the entire jumping trajectory presents unsolved challenges in computation burden. In this…
Robust optimal or min-max model predictive control (MPC) approaches aim to guarantee constraint satisfaction over a known, bounded uncertainty set while minimizing a worst-case performance bound. Traditionally, these methods compute a…
The minimum cost flow problem is one of the most studied network optimization problems and appears in numerous applications. Some efficient algorithms exist for this problem, which are freely available in the form of libraries or software…
Computing shortest paths is one of the most researched topics in algorithm engineering. Currently available algorithms compute shortest paths in mere fractions of a second on continental sized road networks. In the presence of…
Traditional offline redundancy resolution of trajectories for redundant manipulators involves computing inverse kinematic solutions for Cartesian space paths, constraining the manipulator to a fixed path without real-time adjustments.…
This paper addresses the challenges of decision-making for autonomous vehicles under faults during a transport mission. A real-time decision-making problem of vehicle routing planning considering maintenance management is formulated as an…
We are interested in the problem of time-optimal control of omnidirectional robots with bounded acceleration (TOC-ORBA). While there exist approximate solutions for such robots, and exact solutions with unbounded acceleration, exact solvers…