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Replanning in temporal logic tasks is extremely difficult during the online execution of robots. This study introduces an effective path planner that computes solutions for temporal logic goals and instantly adapts to non-static and…
In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…
This paper presents an autonomous navigation system for ground robots traversing aggressive unstructured terrain through a cohesive arrangement of mapping, deliberative planning and reactive behaviour modules. All systems are aware of…
Autonomous navigation in off-road environments remains a significant challenge in field robotics, particularly for Unmanned Ground Vehicles (UGVs) tasked with search and rescue, exploration, and surveillance. Effective long-range planning…
Planning module is an essential component of intelligent vehicle study. In this paper, we address the risk-aware planning problem of UGVs through a global-local planning framework which seamlessly integrates risk assessment methods. In…
In this paper, we deal with the problem of full-body path planning for walking robots. The state of walking robots is defined in multi-dimensional space. Path planning requires defining the path of the feet and the robot's body. Moreover,…
Socially-aware robotic navigation is essential in environments where humans and robots coexist, ensuring both safety and comfort. However, most existing approaches have been primarily developed for mobile robots, leaving a significant gap…
Hierarchical, multi-resolution volumetric mapping approaches are widely used to represent large and complex environments as they can efficiently capture their occupancy and connectivity information. Yet widely used path planning methods…
This work proposes a safety-critical local reactive controller that enables the robot to navigate in unknown and cluttered environments. In particular, the trajectory tracking task is formulated as a constrained polynomial optimization…
This paper addresses semantic planning problems in unknown environments under perceptual uncertainty. The environment contains multiple unknown semantically labeled regions or objects, and the robot must reach desired locations while…
Finding the optimum path for a robot for moving from start to the goal position through obstacles is still a challenging issue. This paper presents a novel path planning method, named D-point trigonometric, based on Q-learning algorithm for…
The autonomous exploration of environments by multi-robot systems is a critical task with broad applications in rescue missions, exploration endeavors, and beyond. Current approaches often rely on either greedy frontier selection or…
Trajectory planning in unstructured environments is a fundamental and challenging capability for mobile robots. Traditional modular pipelines suffer from latency and cascading errors across perception, localization, mapping, and planning…
Path planning is one of the most vital elements of mobile robotics. With a priori knowledge of the environment, global path planning provides a collision-free route through the workspace. The global path plan can be calculated with a…
Robots are increasingly operating in indoor environments designed for and shared with people. However, robots working safely and autonomously in uneven and unstructured environments still face great challenges. Many modern indoor…
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…
Real-time navigation in dense human environments is a challenging problem in robotics. Most existing path planners fail to account for the dynamics of pedestrians because introducing time as an additional dimension in search space is…
Autonomous robot navigation systems often rely on hierarchical planning, where global planners compute collision-free paths without considering dynamics, and local planners enforce dynamics constraints to produce executable commands. This…
Path planning is an important component in any highly automated vehicle system. In this report, the general problem of path planning is considered first in partially known static environments where only static obstacles are present but the…
Planning collision-free paths for multi-robot systems (MRS) is a challenging problem because of the safety and efficiency constraints required for real-world solutions. Even though coupled path planning approaches provide optimal…