Related papers: FPR -- Fast Path Risk Algorithm to Evaluate Collis…
This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…
Next generation Unmanned Aerial Vehicles (UAVs) must reliably avoid moving obstacles. Existing dynamic collision avoidance methods are effective where obstacle trajectories are linear or known, but such restrictions are not accurate to many…
Navigating safely in urban environments remains a challenging problem for autonomous vehicles. Occlusion and limited sensor range can pose significant challenges to safely navigate among pedestrians and other vehicles in the environment.…
A novel decentralised trajectory generation algorithm for Multi Agent systems is presented. Multi-robot systems have the capacity to transform lives in a variety of fields. But, trajectory generation for multi-robot systems is still in its…
We consider the motion-planning problem of planning a collision-free path of a robot in the presence of risk zones. The robot is allowed to travel in these zones but is penalized in a super-linear fashion for consecutive accumulative time…
The processing requirement of autonomous vehicles (AVs) for high-accuracy perception in complex scenarios can exceed the resources offered by the in-vehicle computer, degrading safety and comfort. This paper proposes a sensor frame…
Obstacle avoidance enables autonomous agents and robots to operate safely and efficiently in dynamic and complex environments, reducing the risk of collisions and damage. For a robot or autonomous system to successfully navigate through…
Coordinating the motion of multiple robots in cluttered environments remains a computationally challenging task. We study the problem of minimizing the execution time of a set of geometric paths by a team of robots with state-dependent…
This article presents a multi-robot trajectory planning method which not only guarantees optimization feasibility and but also resolves deadlocks in obstacle-dense environments. The method is proposed via formulating a recursive…
In this paper we present a novel probabilistic sampling-based motion planning algorithm called the Fast Marching Tree algorithm (FMT*). The algorithm is specifically aimed at solving complex motion planning problems in high-dimensional…
Physically disentangling entangled objects from each other is a problem encountered in waste segregation or in any task that requires disassembly of structures. Often there are no object models, and, especially with cluttered irregularly…
We present a general decentralized formulation for a large class of collision avoidance methods and show that all collision avoidance methods of this form are guaranteed to be collision free. This class includes several existing algorithms…
Real-time multi-target path planning is a key issue in the field of autonomous driving. Although multiple paths can be generated in real-time with polynomial curves, the generated paths are not flexible enough to deal with complex road…
Prior work has looked at applying reinforcement learning and imitation learning approaches to autonomous driving scenarios, but either the safety or the efficiency of the algorithm is compromised. With the use of control barrier functions…
Described here is a simple, reliable, and quite general method for rapid computation of robot arm inverse kinematic solutions and motion path plans in the presence of complex obstructions. The method derived from the MSC (map-seeking…
Generating time-optimal, collision-free trajectories for autonomous mobile robots involves a fundamental trade-off between guaranteeing safety and managing computational complexity. State-of-the-art approaches formulate spline-based motion…
We consider the problem of cooperative intersection management. It arises in automated transportation systems for people or goods but also in multi-robots environment. Therefore many solutions have been proposed to avoid collisions. The…
We present a path planning framework that takes into account the human's safety perception in the presence of a flying robot. The framework addresses two objectives: (i) estimation of the uncertain parameters of the proposed safety…
Skid-Steer Wheeled Mobile Robots (SSWMRs) are increasingly being used for off-road autonomy applications. When turning at high speeds, these robots tend to undergo significant skidding and slipping. In this work, using Gaussian Process…
Fast and safe motion is crucial for the successful deployment of physically interactive robots. Parallel robots (PRs) offer the potential for higher speeds while maintaining the same energy limits due to their low moving masses. However,…