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This paper presents a novel frequency-domain approach for path following problem, specifically designed to handle paths described by discrete data. The proposed algorithm utilizes the fast Fourier Transform (FFT) to process the discrete…
Although quadrotor navigation has achieved high performance in trajectory planning and control, real-time adaptability in unknown complex environments remains a core challenge. This difficulty mainly arises because most existing planning…
Many robotic systems allow independent control of position and orientation (pose), including omnidirectional aerial vehicles, underwater robots, and manipulator end-effectors. In many applications, these systems must follow a continuous…
A novel mechanism to derive self-entanglement-free (SEF) path for tethered differential-driven robots is proposed in this work. The problem is tailored to the deployment of tethered differential-driven robots in situations where an…
Anticipating the motion of other road users is crucial for automated driving systems (ADS), as it enables safe and informed downstream decision-making and motion planning. Unfortunately, contemporary learning-based approaches for motion…
We tackle the challenges of decentralized multi-robot navigation in environments with nonconvex obstacles, where complete environmental knowledge is unavailable. While reactive methods like Artificial Potential Field (APF) offer simplicity…
Recent neural networks based surface reconstruction can be roughly divided into two categories, one warping templates explicitly and the other representing 3D surfaces implicitly. To enjoy the advantages of both, we propose a novel 3D…
Precise motion control of underactuated surface vessels is a crucial task in various maritime applications. In this work, we develop a nonlinear motion control strategy for surface vessels inspired by the pursuit guidance philosophy. Any…
Practical global path planning is critical for commercializing cleaning robots working in semi-structured environments. In the literature, global path planning methods for free space usually focus on path length and neglect the traffic rule…
Embodied navigation holds significant promise for real-world applications such as last-mile delivery. However, most existing approaches are confined to either indoor or outdoor environments and rely heavily on strong assumptions, such as…
This paper presents a novel method for real-time 3D navigation in large-scale, complex environments using a hierarchical 3D visibility graph (V-graph). The proposed algorithm addresses the computational challenges of V-graph construction…
Visual navigation is a core capability for mobile robots, yet end-to-end learning-based methods often struggle with generalization and safety in unseen, cluttered, or narrow environments. These limitations are especially pronounced in dense…
Autonomous robot person-following (RPF) systems are crucial for personal assistance and security but suffer from target loss due to occlusions in dynamic, unknown environments. Current methods rely on pre-built maps and assume static…
Safe navigation within a workspace is a fundamental skill for autonomous robots to accomplish more complex tasks. Harmonic potentials are artificial potential fields that are analytical, globally convergent and provably free of local…
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 consider the task of underwater robot navigation for the purpose of collecting scientifically relevant video data for environmental monitoring. The majority of field robots that currently perform monitoring tasks in unstructured natural…
This paper presents an algorithm for solving the problem of tracking smooth curves by a fixed wing unmanned aerial vehicle travelling with a constant airspeed and under a constant wind disturbance. The algorithm is based on the idea of…
This paper addresses the problem of multi-robot navigation where robots maneuver on a desired \(m\)-dimensional (i.e., \(m\)-D) manifold in the $n$-dimensional Euclidean space, and maintain a {\it flexible spatial ordering}. We consider $…
Trajectory generation for quadrotors with limited field-of-view sensors has numerous applications such as aerial exploration, coverage, inspection, videography, and target tracking. Most previous works simplify the task of optimizing yaw…
This paper presents a novel quasi-centralized approach for collision-free path planning of multi-robot systems (MRS) in obstacle-ridden environments. A new formation potential fields (FPF) concept is proposed around a virtual agent, located…