Related papers: An Efficient B-spline-Based Kinodynamic Replanning…
We present a novel approach for generating motion primitives for kinodynamic motion planning using diffusion models. The motions generated by our approach are adapted to each problem instance by utilizing problem-specific parameters,…
In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…
In many mobile robotics scenarios, such as drone racing, the goal is to generate a trajectory that passes through multiple waypoints in minimal time. This problem is referred to as time-optimal planning. State-of-the-art approaches either…
The increasing popularity of quadrotors has given rise to a class of predominantly vision-driven vehicles. This paper addresses the problem of perception-aware time optimal path parametrization for quadrotors. Although many different…
This project aimed to develop an automated cinematography platform using an unmanned aerial vehicle. Quadcopters are a great platform for shooting aerial scenes but are difficult to maneuver smoothly and can require expertise to pilot. We…
It is a significant requirement for a quadrotor trajectory planner to simultaneously guarantee trajectory quality and system lightweight. Many researchers focus on this problem, but there's still a gap between their performance and our…
RoboCup Middle Size League (RoboCup MSL) provides a standardized testbed for research on mobile robot navigation, multi-robot cooperation, communication and integration via robot soccer competition in which the environment is highly dynamic…
State-of-the-art multi-robot kinodynamic motion planners struggle to handle more than a few robots due to high computational burden, which limits their scalability and results in slow planning time. In this work, we combine the scalability…
In this article, a novel combined aerial cooperative tethered carrying and path planning framework is introduced with a special focus on applications in confined environments. The proposed work is aiming towards solving the path planning…
In many real-world robotic tasks, robots must generate dynamically feasible motions that reliably reach desired goals even under uncertainty. Yet existing sampling-based kinodynamic planners typically optimize accumulated trajectory costs…
Although quadrotors, and aerial robots in general, are inherently active agents, their perceptual capabilities in literature so far have been mostly passive in nature. Researchers and practitioners today use traditional computer vision…
This work addresses the problem of kinematic trajectory planning for mobile manipulators with non-holonomic constraints, and holonomic operational-space tracking constraints. We obtain whole-body trajectories and time-varying kinematic…
This paper proposes a genetic algorithm-based kinodynamic planning algorithm (GAKD) for car-like vehicles navigating uneven terrains modeled as triangular meshes. The algorithm's distinct feature is trajectory optimization over 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…
Expressive motion planning for Aerial Manipulators (AMs) is essential for tackling complex manipulation tasks, yet achieving coupled trajectory planning adaptive to various tasks remains challenging, especially for those requiring…
This paper considers the collision avoidance problem in a multi-agent multi-obstacle framework. The originality in solving this intensively studied problem resides in the proposed geometrical view combined with differential flatness for…
In this paper we propose a computational design tool that al-lows end-users to create advanced quadrotor trajectories witha variety of application scenarios in mind. Our algorithm al-lows novice users to create quadrotor based use-cases…
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…
Autonomous navigation through unknown environments is a challenging task that entails real-time localization, perception, planning, and control. UAVs with this capability have begun to emerge in the literature with advances in lightweight…
Obstacle avoidance of quadrotors in dynamic environments is still a very open problem. Current works commonly leverage traditional static maps to represent static obstacles and the detection and tracking of moving objects (DATMO) method to…