Related papers: Optimal Predefined-time Trajectory Planning for a …
Neural Signed Distance Fields (SDFs) provide a differentiable environment representation to readily obtain collision checks and well-defined gradients for robot navigation tasks. However, updating neural SDFs as the scene evolves entails…
A control optimization approach is presented for a chaser spacecraft tasked with maintaining proximity to a target space object while avoiding collisions. The target object trajectory is provided numerically to account for both passive…
This paper addresses the problem of autonomous robot navigation in unknown, obstacle-filled environments with second-order dynamics by proposing a Dissipative Avoidance Feedback (DAF). Compared to the Artificial Potential Field (APF), which…
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…
We propose an online iterative algorithm to optimize a convex cover to under-approximate the free space for autonomous navigation to delineate Safe Flight Corridors (SFC). The convex cover consists of a set of polytopes such that the union…
One of the pivotal challenges in a multi-robot system is how to give attention to accuracy and efficiency while ensuring safety. Prior arts cannot strictly guarantee collision-free for an arbitrarily large number of robots or the results…
Real-world environments are inherently uncertain, and to operate safely in these environments robots must be able to plan around this uncertainty. In the context of motion planning, we desire systems that can maintain an acceptable level of…
Trajectory optimization methods for motion planning attempt to generate trajectories that minimize a suitable objective function. Such methods efficiently find solutions even for high degree-of-freedom robots. However, a globally optimal…
We present a novel framework for motion planning in dynamic environments that accounts for the predicted trajectories of moving objects in the scene. We explore the use of composite signed-distance fields in motion planning and detail how…
We propose a new method for collision-free planning using Conditional Generative Adversarial Networks (cGANs) to transform between the robot's joint space and a latent space that captures only collision-free areas of the joint space,…
Trajectory generation in confined environment is crucial for wide adoption of intelligent robot manipulators. In this paper, we propose a novel motion planning approach for redundant robot arms that uses a hybrid optimization framework to…
Safely deploying robots in uncertain and dynamic environments requires a systematic accounting of various risks, both within and across layers in an autonomy stack from perception to motion planning and control. Many widely used motion…
Motion planning for autonomous vehicles requires spatio-temporal motion plans (i.e. state trajectories) to account for dynamic obstacles. This requires a trajectory tracking control process which faithfully tracks planned trajectories. In…
Generating motions for robots interacting with objects of various shapes is a complex challenge, further complicated by the robot geometry and multiple desired behaviors. While current robot programming tools (such as inverse kinematics,…
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…
Planning for legged-wheeled machines is typically done using trajectory optimization because of many degrees of freedom, thus rendering legged-wheeled planners prone to falling prey to bad local minima. We present a combined sampling and…
The optimization of fuel-optimal low-thrust collision avoidance maneuvers (CAMs) in scenarios involving multiple encounters between spacecraft is addressed. The optimization's objective is the minimization of the total fuel consumption…
In this paper, we describe a robust multi-drone planning framework for high-speed trajectories in large scenes. It uses a free-space-oriented map to free the optimization from cumbersome environment data. A capsule-like safety constraint is…
Continuum robots with floating bases demonstrate exceptional operational capabilities in confined spaces, such as those encountered in medical surgeries and equipment maintenance. However, developing low-cost solutions for their motion and…
This paper presents the development and evaluation of an optimization-based autonomous trajectory planning algorithm for the asteroid reconnaissance phase of a deep-space exploration mission. The reconnaissance phase is a low-altitude flyby…