Related papers: PRM path smoothening by circular arc fillet method…
Kinodynamic motion planning for non-holomonic mobile robots is a challenging problem that is lacking a universal solution. One of the computationally efficient ways to solve it is to build a geometric path first and then transform this path…
This work presents a novel data-driven path planning algorithm named Instruction-Guided Probabilistic Roadmap (IG-PRM). Despite the recent development and widespread use of mobile robot navigation, the safe and effective travels of mobile…
In the context of ground robot navigation in unstructured hazardous environments, the coupling of efficient path planning with an adequate environment representation is a crucial topic in order to guarantee the robot safety while ensuring…
We present an approach that generates kinodynamically feasible paths for robots using Rapidly-exploring Random Tree (RRT). We leverage motion primitives as a way to capture the dynamics of the robot and use these motion primitives to build…
Local navigation is one of the fundamental problems in robot navigation, and numerous approaches have been proposed over the years, including methods such as the Dynamic Window Approach, Model Predictive Control, and more recently, Control…
Essential tasks in autonomous driving includes environment perception, detection and tracking, path planning and action control. This paper focus on path planning, which is one of the challenging task as it needs to find optimal path in…
Navigation and motion control of a robot to a destination are tasks that have historically been performed with the assumption that contact with the environment is harmful. This makes sense for rigid-bodied robots where obstacle collisions…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
Path planning for high-speed unmanned surface vehicles requires more complex solutions to reduce sailing time and save energy. This article proposes a new predictive artificial potential field that incorporates time information and…
This paper explores the Navigation Among Movable Obstacles (NAMO) problem and proposes joint path and push planning: which path to take and in what direction the obstacles should be pushed at, given a start and goal position. We present a…
This paper presents a method for constrained motion planning from vision, which enables a robot to move its end-effector over an observed surface, given start and destination points. The robot has no prior knowledge of the surface shape,…
We explore path planning followed by kinodynamic smoothing while ensuring the vehicle dynamics feasibility for MAVs. We have chosen a geometrically based motion planning technique \textquotedblleft RRT*\textquotedblright\; for this purpose.…
Sampling-based motion planning techniques have emerged as an efficient algorithmic paradigm for solving complex motion planning problems. These approaches use a set of probing samples to construct an implicit graph representation of the…
The paper proposes novel sampling strategies to compute the optimal path alteration of a surface vessel sailing in close quarters. Such strategy directly encodes the rules for safe navigation at sea, by exploiting the concept of minimal…
Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant…
An algorithm for robot formation path planning is presented in this paper. Given a map of the working environment, the algorithm finds a path for a formation taking into account possible split of the formation and its consecutive merge. The…
This paper addresses the problem of coordination of a fleet of mobile robots - the problem of finding an optimal set of collision-free trajectories for individual robots in the fleet. Many approaches have been introduced during the last…
Consider a general path planning problem of a robot on a graph with edge costs, and where each node has a Boolean value of success or failure (with respect to some task) with a given probability. The objective is to plan a path for the…
The efficiency of sampling-based motion planning brings wide application in autonomous mobile robots. The conventional rapidly exploring random tree (RRT) algorithm and its variants have gained significant successes, but there are still…
In this work, we propose a novel and efficient method for smoothing polylines in motion planning tasks. The algorithm applies to motion planning of vehicles with bounded curvature. In the paper, we show that the generated path: 1) has…