Related papers: Realtime Trajectory Smoothing with Neural Nets
This paper presents a search-based partial motion planner to generate dynamically feasible trajectories for car-like robots in highly dynamic environments. The planner searches for smooth, safe, and near-time-optimal trajectories by…
Generating high-quality motion plans for multiple robot arms is challenging due to the high dimensionality of the system and the potential for inter-arm collisions. Traditional motion planning methods often produce motions that are…
Human awareness in robot motion planning is crucial for seamless interaction with humans. Many existing techniques slow down, stop, or change the robot's trajectory locally to avoid collisions with humans. Although using the information on…
This paper proposes a framework for generating fast, smooth and predictable braking manoeuvers for a controlled robot. The proposed framework integrates two approaches to obtain feasible modal limits for designing braking trajectories. The…
Trajectory planning is crucial in multi-robot systems, particularly in environments with numerous obstacles. While extensive research has been conducted in this field, the challenge of coordinating multiple robots to flow collectively from…
Motion trajectory planning is one crucial aspect for automated vehicles, as it governs the own future behavior in a dynamically changing environment. A good utilization of a vehicle's characteristics requires the consideration of the…
This paper presents a novel method for efficiently solving a trajectory planning problem for swarm robotics in cluttered environments. Recent research has demonstrated high success rates in real-time local trajectory planning for swarm…
Recent advances in imitation learning have enabled robots to perform increasingly complex manipulation tasks in unstructured environments. However, most learned policies rely on discrete action chunking, which introduces discontinuities at…
Safe trajectory planning for high-performance automated vehicles in an environment with both static and moving obstacles is a challenging problem. Part of the challenge is developing a formulation that can be solved in real-time while…
Autonomous mobile robots (e.g., warehouse logistics robots) often need to traverse complex, obstacle-rich, and changing environments to reach multiple fixed goals (e.g., warehouse shelves). Traditional motion planners need to calculate the…
Widespread development of driverless vehicles has led to the formation of autonomous racing, where technological development is accelerated by the high speeds and competitive environment of motorsport. A particular challenge for an…
In recent times, an increasing number of researchers have been devoted to utilizing deep neural networks for end-to-end flight navigation. This approach has gained traction due to its ability to bridge the gap between perception and…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…
An effective method for optimizing path planning for a specific model of a 6-degree-of-freedom (6-DOF) robot manipulator is presented as part of the motion planning of the manipulator using computer algebra. We assume that we are given a…
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…
Efficient planning in dynamic and uncertain environments is a fundamental challenge in robotics. In the context of trajectory optimization, the feasibility of paths can change as the environment evolves. Therefore, it can be beneficial to…
In this paper, we present a novel approach to efficiently generate collision-free optimal trajectories for multiple non-holonomic mobile robots in obstacle-rich environments. Our approach first employs a graph-based multi-agent path planner…
In a human-robot interaction system, the most important thing to consider is the safety of the user. This must be guaranteed in order to implement a reliable system. The main objective of this paper is to generate a safe motion scheme that…
Numerical optimization has become a popular approach to plan smooth motion trajectories for robots. However, when sharing space with humans, balancing properly safety, comfort and efficiency still remains challenging. This is notably the…
We present an algorithm that produces a plan for relocating obstacles in order to grasp a target in clutter by a robotic manipulator without collisions. We consider configurations where objects are densely populated in a constrained and…