Related papers: Real-Time Motion Planning of a Hydraulic Excavator…
In this paper, we present a novel optimization-based framework for autonomous excavator trajectory generation under various objectives, including minimum joint displacement and minimum time. Traditional methods on excavation trajectory…
The goal of this paper is to develop a continuous optimization-based refinement of the reference trajectory to 'push it out' of the obstacle-occupied space in the global phase for Multi-rotor Aerial Vehicles in unknown environments. Our…
This paper presents an optimization-based receding horizon trajectory planning algorithm for dynamical systems operating in unstructured and cluttered environments. The proposed approach is a two-step procedure that uses a motion planning…
Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…
This paper presents a new trajectory replanner for grasping irregular objects. Unlike conventional grasping tasks where the object's geometry is assumed simple, we aim to achieve a "dynamic grasp" of the irregular objects, which requires…
Ground robots navigating in complex, dynamic environments must compute collision-free trajectories to avoid obstacles safely and efficiently. Nonconvex optimization is a popular method to compute a trajectory in real-time. However, these…
As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…
Visual observation of objects is essential for many robotic applications, such as object reconstruction and manipulation, navigation, and scene understanding. Machine learning algorithms constitute the state-of-the-art in many fields but…
In this paper, a novel real-time acceleration-continuous path-constrained trajectory planning algorithm is proposed with an appealing built-in tradability mechanism between cruise motion and time-optimal motion. Different from existing…
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…
In this paper, we present a minimal torque and time variable trajectory optimization method for autonomous excavator considering the soil-tool interaction. The method formulates the excavation motion generation as a trajectory optimization…
We consider the problem of grasping in clutter. While there have been motion planners developed to address this problem in recent years, these planners are mostly tailored for open-loop execution. Open-loop execution in this domain,…
We present an optimization-based motion planning algorithm to compute a smooth, collision-free trajectory for a manipulator used to transfer a liquid from a source to a target container. We take into account fluid dynamics constraints as…
Trajectory Planning is a crucial word in Modern & Advanced Robotics. It's a way of generating a smooth and feasible path for the robot to follow over time. The process primarily takes several factors to generate the path, such as velocity,…
The tractor-trailer robot consists of a drivable tractor and one or more non-drivable trailers connected via hitches. Compared to typical car-like robots, the addition of trailers provides greater transportation capability. However, this…
Humans seamlessly fuse anticipatory planning with immediate feedback to perform successive mobile manipulation tasks without stopping, achieving both high efficiency and reliability. Replicating this fluid and reliable behavior in robots…
Motion planning is a key aspect of robotics. A common approach to address motion planning problems is trajectory optimization. Trajectory optimization can represent the high-level behaviors of robots through mathematical formulations.…
In order to safely and efficiently collaborate with humans, industrial robots need the ability to alter their motions quickly to react to sudden changes in the environment, such as an obstacle appearing across a planned trajectory. In…
In this paper, a real-time quasi-optimal trajectory planning scheme is employed to guide an autonomous underwater vehicle (AUV) safely into a funnel-shape stationary docking station. By taking advantage of the direct method of calculus of…