Related papers: Underactuated Waypoint Trajectory Optimization for…
We develop an optimization-based framework for joint real-time trajectory planning and feedback control of feedback-linearizable systems. To achieve this goal, we define a target trajectory as the optimal solution of a time-varying…
In this work, we present a method for minimizing the time required for a redundant dual-arm robot to follow a desired relative Cartesian path at constant path speed by optimizing its joint trajectories, subject to position, velocity, and…
Inverse path tracing has recently been applied to joint material and lighting estimation, given geometry and multi-view HDR observations of an indoor scene. However, it has two major limitations: path tracing is expensive to compute, and…
Quadrotors are among the most agile flying robots. However, planning time-optimal trajectories at the actuation limit through multiple waypoints remains an open problem. This is crucial for applications such as inspection, delivery, search…
Optical flow estimation is a well-studied topic for automated driving applications. Many outstanding optical flow estimation methods have been proposed, but they become erroneous when tested in challenging scenarios that are commonly…
Training agents to autonomously learn how to use anthropomorphic robotic hands has the potential to lead to systems capable of performing a multitude of complex manipulation tasks in unstructured and uncertain environments. In this work, we…
This paper introduces a new algorithm for trajectory optimization, Decoupled Reduced-space and Adaptive Feasibility-repair Trajectory Optimization (DRAFTO). It first constructs a constrained objective that accounts for smoothness, safety,…
Essential tasks in autonomous driving includes environment perception, detection and tracking, path planning and action control. This paper focus on path planning, which is one of the challenging task as it needs to find optimal path in…
We present a method for effectively planning the motion trajectory of robots in manufacturing tasks, the tool-paths of which are usually complex and have a large number of discrete-time constraints as waypoints. Kinematic redundancy also…
Joint space trajectory optimization under end-effector task constraints leads to a challenging non-convex problem. Thus, a real-time adaptation of prior computed trajectories to perturbation in task constraints often becomes intractable.…
This paper presents a method for planning optimal trajectories with a team of Unmanned Aerial Vehicles (UAVs) performing autonomous cinematography. The method is able to plan trajectories online and in a distributed manner, providing…
The recent works on quadrotor have focused on more and more challenging tasks on increasingly complex systems. Systems are often augmented with slung loads, inverted pendulums or arms, and accomplish complex tasks such as going through a…
Trained humans exhibit highly agile spatial skills, enabling them to operate vehicles with complex dynamics in demanding tasks and conditions. Prior work shows that humans achieve this performance by using strategies such as satisficing,…
In this paper, we consider a new unmanned aerial vehicle (UAV)-assisted oblique image acquisition system where a UAV is dispatched to take images of multiple ground targets (GTs). To study the three-dimensional (3D) UAV trajectory design…
Modern automated driving solutions utilize trajectory planning and control components with numerous parameters that need to be tuned for different driving situations and vehicle types to achieve optimal performance. This paper proposes a…
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…
In this paper, we consider the problem of generating inspection paths for robots. These paths should allow an attached measurement device to perform high-quality measurements. We formally show that generating robot paths, while maximizing…
This letter describes a method for autonomous aerial cinematography with distributed lighting by a team of unmanned aerial vehicles (UAVs). Although camera-carrying multi-rotor helicopters have become commonplace in cinematography, their…
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…
In this work, we present an approach to minimizing the time necessary for the end-effector of a redundant robot manipulator to traverse a Cartesian path by optimizing the trajectory of its joints. Each joint has limits in the ranges of…