Related papers: Dynamic Path Planning and Replanning for Mobile Ro…
This paper presents a method for robotic monitoring missions in the presence of moving obstacles. Although the scenario map is known, the robot lacks information about the movement of dynamic obstacles during the monitoring mission.…
This paper describes and analyzes a reactive navigation framework for mobile robots in unknown environments. The approach does not rely on a global map and only considers the local occupancy in its robot-centered 3D grid structure. The…
We present Fast-dRRT*, a sampling-based multi-robot planner, for real-time industrial automation scenarios. Fast-dRRT* builds upon the discrete rapidly-exploring random tree (dRRT*) planner, and extends dRRT* by using pre-computed swept…
Safety is a critical concern for the success of urban air mobility, especially in dynamic and uncertain environments. This paper proposes a path planning algorithm based on RRT in conjunction with chance constraints in the presence of…
In this paper, we present a new algorithm that extends RRT* and RT-RRT* for online path planning in complex, dynamic environments. Sampling-based approaches often perform poorly in environments with narrow passages, a feature common to many…
Industrial robots are widely used in diverse manufacturing environments. Nonetheless, how to enable robots to automatically plan trajectories for changing tasks presents a considerable challenge. Further complexities arise when robots…
Balancing the trade-off between safety and efficiency is of significant importance for path planning under uncertainty. Many risk-aware path planners have been developed to explicitly limit the probability of collision to an acceptable…
The ability to update a path plan is a required capability for autonomous mobile robots navigating through uncertain environments. This paper proposes a re-planning strategy using a multilayer planning and control framework for cases where…
This paper presents a two-step algorithm for online trajectory planning in indoor environments with unknown obstacles. In the first step, sampling-based path planning techniques such as the optimal Rapidly exploring Random Tree (RRT*)…
This paper proposes a novel safety specification tool, called the distributionally robust risk map (DR-risk map), for a mobile robot operating in a learning-enabled environment. Given the robot's position, the map aims to reliably assess…
Fast and accurate path planning is important for ground robots to achieve safe and efficient autonomous navigation in unstructured outdoor environments. However, most existing methods exploiting either 2D or 2.5D maps struggle to balance…
This paper considers safe robot mission planning in uncertain dynamical environments. This problem arises in applications such as surveillance, emergency rescue, and autonomous driving. It is a challenging problem due to modeling and…
Rapidly-exploring random trees (RRTs) have been widely adopted for robot motion planning due to their robustness and theoretical guarantees. However, existing RRT-based planners require explicit goal configurations specified as numerical…
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…
This paper addresses the problem of mobile grasping in dynamic, unknown environments where a robot must operate under a limited field-of-view. The fundamental challenge is the inherent trade-off between ``seeing'' around to reduce…
On-line motion planning in unknown environments is a challenging problem as it requires (i) ensuring collision avoidance and (ii) minimizing the motion time, while continuously predicting where to go next. Previous approaches to on-line…
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…
The research and development of intelligent automation solutions is a ground-breaking point for the factory of the future. A promising and challenging mission is the use of autonomous robot systems to automate tasks in the field of…
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…
Autonomous mobile robots (e.g., warehouse logistics robots) often need to traverse complex, obstacle-rich, and changing environments to reach multiple fixed goals (e.g., warehouse shelves). Traditional motion planners need to calculate the…