Related papers: Elastic Tracker: A Spatio-temporal Trajectory Plan…
Safe navigation in dynamic environments remains challenging due to uncertain obstacle behaviors and the lack of formal prediction guarantees. We propose two motion planning frameworks that leverage conformal prediction (CP): a global…
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…
Safe navigation of Micro Aerial Vehicles (MAVs) requires not only obstacle-free flight paths according to a static environment map, but also the perception of and reaction to previously unknown and dynamic objects. This implies that the…
This paper proposes a novel framework to alleviate the model drift problem in visual tracking, which is based on paced updates and trajectory selection. Given a base tracker, an ensemble of trackers is generated, in which each tracker's…
The role of a motion planner is pivotal in quadrotor applications, yet existing methods often struggle to adapt to complex environments, limiting their ability to achieve fast, safe, and robust flight. In this letter, we introduce a…
In order to design and implement tracers, one must decide what exactly to trace and how to produce this trace. On the one hand, trace designs are too often guided by implementation concerns and are not as useful as they should be. On the…
This study proposes an integrated task and motion planning method for dynamic locomotion in partially observable environments with multi-level safety guarantees. This layered planning framework is composed of a high-level symbolic task…
In this paper, we present a new tracking architecture with an encoder-decoder transformer as the key component. The encoder models the global spatio-temporal feature dependencies between target objects and search regions, while the decoder…
Formulating the intended behavior of a dynamic system can be challenging. Signal temporal logic (STL) is frequently used for this purpose due to its suitability in formalizing comprehensible, modular, and versatile spatiotemporal…
Mission planners for aircraft operating under threat of detection by ground-based radar systems are concerned with the probability of detection. Current path planning methods for such scenarios consider the aircraft pose, radar position,…
Trajectory replanning for quadrotors is essential to enable fully autonomous flight in unknown environments. Hierarchical motion planning frameworks, which combine path planning with path parameterization, are popular due to their time…
This work presents an efficient method to solve a class of continuous-time, continuous-space stochastic optimal control problems of robot motion in a cluttered environment. The method builds upon a path integral representation of the…
Planning a safe and feasible trajectory for autonomous vehicles in real-time by fully utilizing perceptual information in complex urban environments is challenging. In this paper, we propose a spatio-temporal trajectory planning method…
In this paper, we propose a complete and robust motion planning system for the aggressive flight of autonomous quadrotors. The proposed method is built upon on a classical teach-and-repeat framework, which is widely adopted in…
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…
In this paper, we propose a new method for multirotor planning in dynamic environments. The environment is represented as a temporal occupancy grid which gives the current as well as the future/predicted state of all the obstacles. The…
This work deals with a moving target chasing mission of an aerial vehicle equipped with a vision sensor in a cluttered environment. In contrast to obstacle-free or sparse environments, the chaser should be able to handle collision and…
This paper presents the design concept, modeling and motion planning solution for the aerial robotic chain. This design represents a configurable robotic system of systems, consisting of multi-linked micro aerial vehicles that…
Fast appearance variations and the distractions of similar objects are two of the most challenging problems in visual object tracking. Unlike many existing trackers that focus on modeling only the target, in this work, we consider the…
SANDO is a safe trajectory planner for 3D dynamic unknown environments, where obstacle locations and motions are unknown a priori and a collision-free plan can become unsafe at any moment, requiring fast replanning. Existing soft-constraint…