Related papers: Admissible heuristics for obstacle clearance optim…
This work proposes a robot task planning framework for retrieving a target object in a confined workspace among multiple stacked objects that obstruct the target. The robot can use prehensile picking and in-workspace placing actions. The…
Safe path planning is a crucial component in autonomous robotics. The many approaches to find a collision free path can be categorically divided into trajectory optimisers and sampling-based methods. When planning using occupancy maps, the…
Precise positioning and fast traversal times are crucial in achieving high productivity and scale in machining. This paper compares two optimization-based predictive control approaches that achieve high performance. In the first approach,…
We deal with the problem of planning collision-free trajectories for robots operating in a shared space. Given the start and destination position for each of the robots, the task is to find trajectories for all robots that reach their…
Stochastic sequential decision making often requires hierarchical structure in the problem where each high-level action should be further planned with primitive states and actions. In addition, many real-world applications require a plan…
We present a simple and easy-to-implement algorithm to detect plan infeasibility in kinematic motion planning. Our method involves approximating the robot's configuration space to a discrete space, where each degree of freedom has a finite…
In many human-in-the-loop robotic applications such as robot-assisted surgery and remote teleoperation, predicting the intended motion of the human operator may be useful for successful implementation of shared control, guidance virtual…
The orienteering problem is a route optimization problem which consists in finding a simple cycle that maximizes the total collected profit subject to a maximum distance limitation. In the last few decades, the occurrence of this problem in…
Optimization of three-dimensional road alignments is a nonlinear non-convex optimization problem. The development of models that fully optimize a three-dimensional road alignment problem is challenging due to numerous factors involved and…
This paper improves the performance of RRT$^*$-like sampling-based path planners by combining admissible informed sampling and local sampling (i.e., sampling the neighborhood of the current solution). An adaptive strategy regulates the…
Given two points in the plane, a set of obstacles defined by closed curves, and an integer $k$, does there exist a path between the two designated points intersecting at most $k$ of the obstacles? This is a fundamental and well-studied…
In certain real-world optimization scenarios, practitioners are not interested in solving multiple problems but rather in finding the best solution to a single, specific problem. When the computational budget is large relative to the cost…
Local optimization presents a promising approach to expensive, high-dimensional black-box optimization by sidestepping the need to globally explore the search space. For objective functions whose gradient cannot be evaluated directly,…
We consider the problem of cooperative intersection management. It arises in automated transportation systems for people or goods but also in multi-robots environment. Therefore many solutions have been proposed to avoid collisions. The…
Autonomous exploration of unknown environments is a vital function for robots and has applications in a wide variety of scenarios. Our focus primarily lies in its application for the task of efficient coverage of unknown environments.…
Vehicle trajectory planning is a key component for an autonomous driving system. A practical system not only requires the component to compute a feasible trajectory, but also a comfortable one given certain comfort metrics. Nevertheless,…
In the last years, there has been a great interest in machine-learning-based heuristics for solving NP-hard combinatorial optimization problems. The developed methods have shown potential on many optimization problems. In this paper, we…
Lattice paths are functional entities that model efficient navigation in discrete/grid maps. This paper presents a new scheme to generate collision-free lattice paths with utmost efficiency using the bijective property to rooted ordered…
This paper investigates the problem of computing a two-dimensional optimal curvature straight line (CS) shortest path for an unmanned aerial vehicle (UAV) to intercept a moving target, with both the UAV (pursuer) and target travelling at…
Optimal power flow (OPF) is a critical optimization problem for power systems to operate at points where cost or other operational objectives are optimized. Due to the non-convexity of the set of feasible OPF operating points, it is…