Related papers: Trajectory Replanning for Quadrotors Using Kinodyn…
We address multi-robot motion planning under Signal Temporal Logic (STL) specifications with kinodynamic constraints. Exact approaches face scalability bottlenecks and limited adaptability, while conventional sampling-based methods require…
Natural terrain complexity often necessitates agile movements like jumping in animals to improve traversal efficiency. To enable similar capabilities in quadruped robots, complex real-time jumping maneuvers are required. Current research…
Navigating dynamic environments requires the robot to generate collision-free trajectories and actively avoid moving obstacles. Most previous works designed path planning algorithms based on one single map representation, such as the…
This paper presents a multi-robot kinodynamic motion planner that enables a team of robots with different dynamics, actuation limits, and shapes to reach their goals in challenging environments. We solve this problem by combining…
We introduce a new method that efficiently computes a set of viewpoints and trajectories for high-quality 3D reconstructions in outdoor environments. Our goal is to automatically explore an unknown area, and obtain a complete 3D scan of a…
One of the keys to flying quadrotors is to optimize their trajectories within the set of collision-free corridors. These corridors impose nonconvex constraints on the trajectories, making real-time trajectory optimization challenging. We…
This paper addresses two challenges facing sampling-based kinodynamic motion planning: a way to identify good candidate states for local transitions and the subsequent computationally intractable steering between these candidate states.…
Visual observation of objects is essential for many robotic applications, such as object reconstruction and manipulation, navigation, and scene understanding. Machine learning algorithms constitute the state-of-the-art in many fields but…
In this paper, we present a novel strategy to compute minimum-time trajectories for quadrotors in constrained environments. In particular, we consider the motion in a given flying region with obstacles and take into account the physical…
This paper aims to increase the safety and reliability of executing trajectories planned for robots with non-trivial dynamics given a light-weight, approximate dynamics model. Scenarios include mobile robots navigating through workspaces…
Local planning for a differential wheeled robot is designed to generate kinodynamic feasible actions that guide the robot to a goal position along the navigation path while avoiding obstacles. Reactive, predictive, and learning-based…
Online trajectory planners enable quadrotors to safely and smoothly navigate in unknown cluttered environments. However, tuning parameters is challenging since modern planners have become too complex to mathematically model and predict…
Exploration requires that robots reason about numerous ways to cover a space in response to dynamically changing conditions. However, in continuous domains there are potentially infinitely many options for robots to explore which can prove…
This paper proposes a new sampling-based kinodynamic motion planning algorithm, called FMT*PFF, for nonlinear systems. It exploits the novel idea of dimensionality reduction using partial-final-state-free (PFF) optimal controllers.With the…
Planning a path for a nonholonomic robot is a challenging topic in motion planning and it becomes more difficult when the desired path contains narrow passages. This kind of scenario can arise, for instance, when quadcopters search a…
Trajectory optimization is a widely used technique in robot motion planning for letting the dynamics and constraints on the system shape and synthesize complex behaviors. Several previous works have shown its benefits in high-dimensional…
State estimation and control are often addressed separately, leading to unsafe execution due to sensing noise, execution errors, and discrepancies between the planning model and reality. Simultaneous control and trajectory estimation using…
Trajectory retiming is the task of computing a feasible time parameterization to traverse a path. It is commonly used in the decoupled approach to trajectory optimization whereby a path is first found, then a retiming algorithm computes a…
In this paper, we address the problem of safe trajectory planning for autonomous search and exploration in constrained, cluttered environments. Guaranteeing safe (collision-free) trajectories is a challenging problem that has garnered…
Minimum-time navigation within constrained and dynamic environments is of special relevance in robotics. Seeking time-optimality, while guaranteeing the integrity of time-varying spatial bounds, is an appealing trade-off for agile vehicles,…