Related papers: FASTER: Fast and Safe Trajectory Planner for Navig…
Autonomous exploration is a fundamental problem for various applications of unmanned aerial vehicles. Existing methods, however, were demonstrated to insufficient exploration rate, due to the lack of efficient global coverage, conservative…
In many applications, including logistics and manufacturing, robot manipulators operate in semi-structured environments alongside humans or other robots. These environments are largely static, but they may contain some movable obstacles…
Exploration of unknown, unstructured environments, such as in search and rescue, cave exploration, and planetary missions,presents significant challenges due to their unpredictable nature. This unpredictability can lead to inefficient path…
Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…
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…
This paper addresses the problem of mobile grasping in dynamic, unknown environments where a robot must operate under a limited field-of-view. The fundamental challenge is the inherent trade-off between ``seeing'' around to reduce…
We investigated different dense multirotor UAV traffic simulation scenarios in open 2D and 3D space, under realistic environments with the presence of sensor noise, communication delay, limited communication range, limited sensor update…
Safe mobility for unmanned ground vehicles requires reliable detection of other vehicles, along with precise estimates of their locations and trajectories. Here we describe the algorithms and system we have developed for accurate trajectory…
Catching high-speed targets in the flight is a complex and typical highly dynamic task. In this paper, we propose Catch Planner, a planning-with-decision scheme for catching. For sequential decision making, we propose a policy search method…
We present a model predictive control (MPC) framework for efficient navigation of mobile robots in cluttered environments. The proposed approach integrates a finite-segment shortest path planner into the finite-horizon trajectory…
This paper presents an integrated approach for efficient path planning and energy management in hybrid unmanned aerial vehicles (HUAVs) equipped with dual fuel-electric propulsion systems. These HUAVs operate in environments that include…
Robotic systems often operate with uncertainties in their dynamics, for example, unknown inertial properties. Broadly, there are two approaches for controlling uncertain systems: design robust controllers in spite of uncertainty, or…
Safe-interval path planning (SIPP) is a powerful algorithm for finding a path in the presence of dynamic obstacles. SIPP returns provably optimal solutions. However, in many practical applications of SIPP such as path planning for robots,…
This work presents a convex optimization framework for the planning and tracking of quadcopter trajectories with continuous-time safety guarantees. Using B-spline basis functions and the differential flatness property of quadcopters, a…
Exploration in dynamic and uncertain real-world environments is an open problem in robotics and constitutes a foundational capability of autonomous systems operating in most of the real world. While 3D exploration planning has been…
This paper investigates unmanned aerial vehicle (UAV)-aided jamming technique for enabling physical layer keyless security in scenarios where the exact eavesdropper location is unknown. We assume that the unknown eavesdropper location is…
The ability to solve motion-planning queries within a fixed time budget is critical for deploying robotic systems in time-sensitive applications. Semi-static environments, where most of the workspace remains fixed while a subset of…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…
Communication delays can be catastrophic for multiagent systems. However, most existing state-of-the-art multiagent trajectory planners assume perfect communication and therefore lack a strategy to rectify this issue in real-world…
Quadrotors are agile platforms. With human experts, they can perform extremely high-speed flights in cluttered environments. However, fully autonomous flight at high speed remains a significant challenge. In this work, we propose a motion…