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Autonomous systems, including robots and drones, face significant challenges when navigating through dynamic environments, particularly within urban settings where obstacles, fluctuating traffic, and pedestrian activity are constantly…
We introduce and show preliminary results of a fast randomized method that finds a set of K paths lying in distinct homotopy classes. We frame the path planning task as a graph search problem, where the navigation graph is based on a…
Safe and efficient path planning in parking scenarios presents a significant challenge due to the presence of cluttered environments filled with static and dynamic obstacles. To address this, we propose a novel and computationally efficient…
Viewpoint planning is critical for efficient 3D data acquisition in applications such as 3D reconstruction, building life-cycle management, navigation, and interior decoration. However, existing methods often neglect key optimization…
In the field of Simultaneous Localization and Mapping (SLAM), researchers have always pursued better performance in terms of accuracy and time cost. Traditional algorithms typically rely on fundamental geometric elements in images to…
This paper develops a new approach for robot motion planning and control in obstacle-laden environments that is inspired by fundamentals of fluid mechanics. For motion planning, we propose a novel transformation between motion space, with…
This research delves into advanced route optimization for robots in smart logistics, leveraging a fusion of Transformer architectures, Graph Neural Networks (GNNs), and Generative Adversarial Networks (GANs). The approach utilizes a…
Quadruped platforms have become an active topic of research due to their high mobility and traversability in rough terrain. However, it is highly challenging to determine whether the clattered environment could be passed by the robot and…
Safe path planning is a crucial component in autonomous robotics. The many approaches to find a collision free path can be categorically divided into trajectory optimisers and sampling-based methods. When planning using occupancy maps, the…
Path planning plays a crucial role in various autonomy applications, and RRT* is one of the leading solutions in this field. In this paper, we propose the utilization of vertex-based networks to enhance the sampling process of RRT*, leading…
A large spectrum of applications such as location based services and environmental monitoring demand efficient query processing on uncertain databases. In this paper, we propose the probabilistic Voronoi diagram (PVD) for processing moving…
In this paper we explore a symmetry-based search space reduction technique which can speed up optimal pathfinding on undirected uniform-cost grid maps by up to 38 times. Our technique decomposes grid maps into a set of empty rectangles,…
Micro-Aerial Vehicles (MAVs) have the advantage of moving freely in 3D space. However, creating compact and sparse map representations that can be efficiently used for planning for such robots is still an open problem. In this paper, we…
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…
Paths planned over grids can often be suboptimal in an Euclidean space and contain a large number of unnecessary turns. Consequently, researchers have looked into post-processing techniques to improve the paths after they are planned. In…
In this paper, we propose a 3D path planning method that integrates the A* algorithm with the octree structure. Unmanned Ground Vehicles (UGVs) and legged robots have been extensively studied, enabling locomotion across a variety of…
Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…
This paper introduces a novel, lightweight method to solve the visibility problem for 2D grids. The proposed method evaluates the existence of lines-of-sight from a source point to all other grid cells in a single pass with no preprocessing…
To increase the speed of operation and reduce operator burden, humanoid robots must be able to function autonomously, even in complex, cluttered environments. For this to be possible, they must be able to quickly and efficiently compute…
We present an explicit and efficient construction of additively weighted Voronoi diagrams on planar graphs. Let $G$ be a planar graph with $n$ vertices and $b$ sites that lie on a constant number of faces. We show how to preprocess $G$ in…