Related papers: Robot navigation and target capturing using nature…
This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…
This letter suggests an integrated approach for a drone (or multirotor) to perform an autonomous videography task in a 3-D obstacle environment by following a moving object. The proposed system includes 1) a target motion prediction module…
Finding the optimum path for a robot for moving from start to the goal position through obstacles is still a challenging issue. This paper presents a novel path planning method, named D-point trigonometric, based on Q-learning algorithm for…
Planning collision-free motions for robots with many degrees of freedom is challenging in environments with complex obstacle geometries. Recent work introduced the idea of speeding up the planning by encoding prior experience of successful…
Off-road environments present unique challenges for autonomous navigation due to their complex and unstructured nature. Traditional global path-planning methods, which typically aim to minimize path length and travel time, perform poorly on…
In both industrial and service domains, a central benefit of the use of robots is their ability to quickly and reliably execute repetitive tasks. However, even relatively simple peg-in-hole tasks are typically subject to stochastic…
Safe path planning is a crucial component in autonomous robotics. The many approaches to find a collision free path can be categorically divided into trajectory optimisers and sampling-based methods. When planning using occupancy maps, the…
Planning collision-free paths for multi-robot systems (MRS) is a challenging problem because of the safety and efficiency constraints required for real-world solutions. Even though coupled path planning approaches provide optimal…
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…
In this paper, a robot navigating an environment shared with humans is considered, and a cost function that can be exploited in $\text{RRT}^\text{X}$, a randomized sampling-based replanning algorithm that guarantees asymptotic optimality,…
This paper presents a framework for fast and robust motion planning designed to facilitate automated driving. The framework allows for real-time computation even for horizons of several hundred meters and thus enabling automated driving in…
Robots have become increasingly prevalent in dynamic and crowded environments such as airports and shopping malls. In these scenarios, the critical challenges for robot navigation are reliability and timely arrival at predetermined…
In this paper, a novel method for path planning of mobile robots is proposed, taking into account the non-holonomic turn radius constraints and finite dimensions of the robot. The approach involves rasterizing the environment to generate a…
This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control…
Autonomous terrain traversal of articulated tracked robots can reduce operator cognitive load to enhance task efficiency and facilitate extensive deployment. We present a novel hybrid trajectory optimization method aimed at generating…
Robot Coverage Path planning (i.e., provide full coverage of a given domain by one or multiple robots) is a classical problem in the field of robotics and motion planning. The goal is to provide nearly full coverage while also minimize…
We present an autonomous exploration system for efficient coverage of unknown environments. First, a rapid environment preprocessing method is introduced to provide environmental information for subsequent exploration planning. Then, the…
This paper deals with a path planning and intelligent control of an autonomous robot which should move safely in partially structured environment. This environment may involve any number of obstacles of arbitrary shape and size; some of…
The urban environment is amongst the most difficult domains for autonomous vehicles. The vehicle must be able to plan a safe route on challenging road layouts, in the presence of various dynamic traffic participants such as vehicles,…
We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked with planning a path over a horizon such that the accumulated…