Related papers: Trajectory planning optimization for real-time 6DO…
Planning a time-optimal trajectory for aerial robots is critical in many drone applications, such as rescue missions and package delivery, which have been widely researched in recent years. However, it still involves several challenges,…
Autonomous exploration is an application of growing importance in robotics. A promising strategy is ergodic trajectory planning, whereby an agent spends in each area a fraction of time which is proportional to its probability information…
In many applied optimization settings, parameters that define the constraints may not guarantee the best possible solution, and superior solutions might exist that are infeasible for the given parameter values. Removing such constraints,…
This paper presents a novel learning-based trajectory planning framework for quadrotors that combines model-based optimization techniques with deep learning. Specifically, we formulate the trajectory optimization problem as a quadratic…
Performing highly agile acrobatic motions with a long flight phase requires perfect timing, high accuracy, and coordination of the full-body motion. To address these challenges, we present a novel approach on timings and trajectory…
A cuspidal robot can move from one inverse kinematics (IK) solution to another without crossing a singularity. Multiple industrial robots are cuspidal. They tend to have a beautiful mechanical design, but they pose path planning challenges.…
In this paper, we propose a reinforcement learning-based algorithm for trajectory optimization for constrained dynamical systems. This problem is motivated by the fact that for most robotic systems, the dynamics may not always be known.…
The main contribution of this paper is a novel method for planning globally optimal trajectories for dynamical systems subject to polygonal constraints. The proposed method is a hybrid trajectory planning approach, which combines graph…
Planning trajectories for nonholonomic systems is difficult and computationally expensive. When facing unexpected events, it may therefore be preferable to deform in some way the initially planned trajectory rather than to re-plan entirely…
This paper focuses on spatial time-optimal motion planning, a generalization of the exact time-optimal path following problem that allows the system to plan within a predefined space. In contrast to state-of-the-art methods, we drop the…
Trajectory generation in dynamic environments presents a significant challenge for quadrotors, particularly due to the non-convexity in the spatial-temporal domain. Many existing methods either assume simplified static environments or…
This paper studies existing direct transcription methods for trajectory optimization applied to robot motion planning. There are diverse alternatives for the implementation of direct transcription. In this study we analyze the effects of…
In many robotic tasks, such as autonomous drone racing, the goal is to travel through a set of waypoints as fast as possible. A key challenge for this task is planning the time-optimal trajectory, which is typically solved by assuming…
Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…
Ground robots navigating in complex, dynamic environments must compute collision-free trajectories to avoid obstacles safely and efficiently. Nonconvex optimization is a popular method to compute a trajectory in real-time. However, these…
Robotic manipulation of deformable objects remains a challenging task. One such task is folding a garment autonomously. Given start and end folding positions, what is an optimal trajectory to move the robotic arm to fold a garment? Certain…
We propose a planning and control approach to physics-based manipulation. The key feature of the algorithm is that it can adapt to the accuracy requirements of a task, by slowing down and generating `careful' motion when the task requires…
Robotic magnetic manipulation offers a minimally invasive approach to gastrointestinal examinations through capsule endoscopy. However, controlling such systems using external permanent magnets (EPM) is challenging due to nonlinear magnetic…
To continuously generate trajectories for serial manipulators with high dimensional degrees of freedom (DOF) in the dynamic environment, a real-time optimal trajectory generation method based on machine learning aiming at high dimensional…
This work proposes a kinodynamic motion planning technique for collaborative object transportation by multiple mobile manipulators in dynamic environments. A global path planner computes a linear piecewise path from start to goal. A novel…