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We integrate sampling-based planning techniques with funnel-based feedback control to develop KDF, a new framework for solving the kinodynamic motion-planning problem via funnel control. The considered systems evolve subject to complex,…
With the widespread adoption of unmanned aerial vehicles (UAV), effective path planning has become increasingly important. Although traditional search methods have been extensively applied, metaheuristic algorithms have gained popularity…
Kinodynamic Motion Planning (KMP) is to find a robot motion subject to concurrent kinematics and dynamics constraints. To date, quite a few methods solve KMP problems and those that exist struggle to find near-optimal solutions and exhibit…
Gradient-based trajectory optimization with B-spline curves is widely used for unmanned aerial vehicles (UAVs) due to its fast convergence and continuous trajectory generation. However, the application of B-spline curves for path-velocity…
Optimal point-to-point trajectory planning for planar redundant manipulator is considered in this study. The main objective is to minimize the sum of the position error of the end-effector at each intermediate point along the trajectory so…
Neural Combinatorial Optimization (NCO) has emerged as a powerful framework for solving combinatorial optimization problems by integrating deep learning-based models. This work focuses on improving existing inference techniques to enhance…
We introduce two new no-regret algorithms for the stochastic shortest path (SSP) problem with a linear MDP that significantly improve over the only existing results of (Vial et al., 2021). Our first algorithm is computationally efficient…
Kinodynamic planning of articulated vehicles in cluttered environments faces additional challenges arising from high-dimensional state space and complex system dynamics. Built upon [1],[2], this work proposes the DE-AGT algorithm that grows…
An efficient robot path-planning model is vulnerable to the number of search nodes, path cost, and time complexity. The conventional A-star (A*) algorithm outperforms other grid-based algorithms for its heuristic search. However it shows…
Robot swarms navigating through unknown obstacle environments are an emerging research area that faces challenges. Performing tasks in such environments requires swarms to achieve autonomous localization, perception, decision-making,…
This paper investigates an efficient algorithm for trajectory planning problem of autonomous unmanned aerial vehicles which fly over three-dimensional terrains. The proposed algorithm combines convex optimization with disjunctive…
This document is a thesis on the subject of single-agent on-line path planning in continuous,unpredictable and highly dynamic environments. The problem is finding and traversing a collision-free path for a holonomic robot, without…
Many real-world problems can be reduced to combinatorial optimization on a graph, where the subset or ordering of vertices that maximize some objective function must be found. With such tasks often NP-hard and analytically intractable,…
A customizable method (OPTIKS) for designing fast trajectory-constrained gradient waveforms with optimized time domain properties was developed. Given a specified multidimensional k-space trajectory, the method optimizes traversal speed…
It is ubiquitously accepted that during the autonomous navigation of the quadrotors, one of the most widely adopted unmanned aerial vehicles (UAVs), safety always has the highest priority. However, it is observed that the ego airflow…
Constructive neural combinatorial optimization (NCO) has attracted growing research attention due to its ability to solve complex routing problems without relying on handcrafted rules. However, existing NCO methods face significant…
Iterative trajectory optimization techniques for non-linear dynamical systems are among the most powerful and sample-efficient methods of model-based reinforcement learning and approximate optimal control. By leveraging time-variant local…
An effective method for optimizing path planning for a specific model of a 6-degree-of-freedom (6-DOF) robot manipulator is presented as part of the motion planning of the manipulator using computer algebra. We assume that we are given a…
As robotic systems continue to address emerging issues in areas such as logistics, mobility, manufacturing, and disaster response, it is increasingly important to rapidly generate safe and energy-efficient trajectories. In this article, we…
Collision-free mobile robot navigation is an important problem for many robotics applications, especially in cluttered environments. In such environments, obstacles can be static or dynamic. Dynamic obstacles can additionally be…