Related papers: A Fast Planning Approach for 3D Short Trajectory w…
Recent temporal LiDAR-based 3D object detectors achieve promising performance based on the two-stage proposal-based approach. They generate 3D box candidates from the first-stage dense detector, followed by different temporal aggregation…
Autonomous agile flight brings up fundamental challenges in robotics, such as coping with unreliable state estimation, reacting optimally to dynamically changing environments, and coupling perception and action in real time under severe…
A novel coupled path planning and energy management problem for a hybrid unmanned air vehicle is considered, where the hybrid vehicle is powered by a dual gas/electric system. Such an aerial robot is envisioned for use in an urban setting…
In this article, a novel combined aerial cooperative tethered carrying and path planning framework is introduced with a special focus on applications in confined environments. The proposed work is aiming towards solving the path planning…
Unmapped areas and aerodynamic disturbances render autonomous navigation with quadrotors extremely challenging. To fly safely and efficiently, trajectory planners and trackers must be able to navigate unknown environments with unpredictable…
Off-road environments present unique challenges for autonomous navigation due to their complex and unstructured nature. Traditional global path-planning methods, which typically aim to minimize path length and travel time, perform poorly on…
This paper presents a novel learning-based trajectory planning framework for quadrotors that combines model-based optimization techniques with deep learning. Specifically, we formulate the trajectory optimization problem as a quadratic…
Mapping is essential in robotics and autonomous systems because it provides the spatial foundation for path planning. Efficient mapping enables planning algorithms to generate reliable paths while ensuring safety and adapting in real time…
Existing motion planning methods often struggle with rapid-motion obstacles due to an insufficient understanding of environmental changes. To address this, we propose integrating motion planners with Doppler LiDARs, which provide not only…
We consider the problems of exploration and point-goal navigation in previously unseen environments, where the spatial complexity of indoor scenes and partial observability constitute these tasks challenging. We argue that learning…
The problem of autonomous racing is to navigate through a race course as quickly as possible while not colliding with any obstacles. We approach the autonomous racing problem with the added constraint of not maintaining an updated obstacle…
Quadrotors are among the most agile flying robots. However, planning time-optimal trajectories at the actuation limit through multiple waypoints remains an open problem. This is crucial for applications such as inspection, delivery, search…
This paper presents an integrated motion planning system for autonomous vehicle (AV) parking in the presence of other moving vehicles. The proposed system includes 1) a hybrid environment predictor that predicts the motions of the…
While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstructured environments. We present a Virtual Reality (VR)-based…
Unmanned Aerial Vehicles (UAVs) represent a new frontier in a wide range of monitoring and research applications. To fully leverage their potential, a key challenge is planning missions for efficient data acquisition in complex…
This paper presents a novel trajectory planning method for aerial perching. Compared with the existing work, the terminal states and the trajectory durations can be adjusted adaptively, instead of being determined in advance. Furthermore,…
In this paper, we present a path planner for low-altitude terrain coverage in known environments with unmanned rotary-wing micro aerial vehicles (MAVs). Airborne systems can assist humanitarian demining by surveying suspected hazardous…
We propose a novel receding horizon planner for an autonomous surface vehicle (ASV) performing path planning in urban waterways. Feasible paths are found by repeatedly generating and searching a graph reflecting the obstacles observed in…
The motion planners used in self-driving vehicles need to generate trajectories that are safe, comfortable, and obey the traffic rules. This is usually achieved by two modules: behavior planner, which handles high-level decisions and…
Planning time-optimal trajectories for quadrotors in cluttered environments is a challenging, non-convex problem. This paper addresses minimizing the traversal time of a given collision-free geometric path without violating bounds on…