Related papers: Time Variable Minimum Torque Trajectory Optimizati…

Micro aerial vehicles (MAVs), are frequently used for exploration, examination, and surveillance during search and rescue missions. Manually piloting these robots under stressful conditions provokes pilot errors and can result in crashes…

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,…

We solve the minimum-thrust optimal trajectory generation problem for the transition of a tiltwing Vertical Take-Off and Landing (VTOL) aircraft using convex optimisation. The method is based on a change of differential operator that allows…

We consider warm-started optimized trajectory planning for autonomous surface vehicles (ASVs) by combining the advantages of two types of planners: an A* implementation that quickly finds the shortest piecewise linear path, and an optimal…

Maneuvering an articulated vehicle on narrow road stretches is often a challenging task for a human driver. Unless the vehicle is accurately steered, parts of the vehicle's bodies may exceed its assigned drive lane, resulting in an…

Approaching a tumbling target safely is a critical challenge in space debris removal missions utilizing robotic manipulators onboard servicing satellites. In this work, we propose a trajectory planning method based on nonlinear optimization…

In this work, we propose a search-based planning method to compute dynamically feasible trajectories for a quadrotor flying in an obstacle-cluttered environment. Our approach searches for smooth, minimum-time trajectories by exploring the…

Agile quadrotor flight relies on rapidly planning and accurately tracking time-optimal trajectories, a technology critical to their application in the wild. However, the computational burden of computing time-optimal trajectories based on…

In this paper, we propose an alternating optimization method to address a time-optimal trajectory generation problem. Different from the existing solutions, our approach introduces a new formulation that minimizes the overall trajectory…

This paper proposes a novel and efficient optimization-based method for generating near time-optimal trajectories for holonomic vehicles navigating through complex but structured environments. The approach aims to solve the problem of…

In this paper we propose a method to improve the accuracy of trajectory optimization for dynamic robots with intermittent contact by using orthogonal collocation. Until recently, most trajectory optimization methods for systems with…

Trajectory optimization in multi-vehicle scenarios faces challenges due to its non-linear, non-convex properties and sensitivity to initial values, making interactions between vehicles difficult to control. In this paper, inspired by…

For industrial product design, it is very important to take into account assembly/disassembly and maintenance operations during the conceptual and prototype design stage. For these operations or other similar operations in a constrained…

Robots must make and break contact with the environment to perform useful tasks, but planning and control through contact remains a formidable challenge. In this work, we achieve real-time contact-implicit model predictive control with a…

We propose factor graph optimization for simultaneous planning, control, and trajectory estimation for collision-free navigation of autonomous systems in environments with moving objects. The proposed online probabilistic motion planning…

This paper proposes a task-specific trajectory optimization framework for human-robot collaboration, enabling adaptive motion planning based on human interaction dynamics. Unlike conventional approaches that rely on predefined desired…

This paper presents a method for task allocation and trajectory generation in cooperative inspection missions using a fleet of multirotor drones, with a focus on wind turbine inspection. The approach generates safe, feasible flight paths…

Coordinating the motion of multiple robots in cluttered environments remains a computationally challenging task. We study the problem of minimizing the execution time of a set of geometric paths by a team of robots with state-dependent…

In this work, we propose a method to efficiently compute smooth, time-optimal trajectories for micro aerial vehicles (MAVs) evading a moving obstacle. Our approach first computes an n-dimensional trajectory from the start- to an arbitrary…

Complex dexterous manipulations require switching between prehensile and non-prehensile grasps, and sliding and pivoting the object against the environment. This paper presents a manipulation planner that is able to reason about diverse…