Related papers: G$ \mathbf{^2} $VD Planner: Efficient Motion Plann…
As autonomous driving continues to advance, automated parking is becoming increasingly essential. However, significant challenges arise when implementing path velocity decomposition (PVD) trajectory planning for automated parking. The…
Unmanned aerial vehicles (UAVs) are increasingly utilized in search and rescue (SAR) operations to enhance efficiency by enabling rescue teams to cover large search areas in a shorter time. Reducing coverage time directly increases the…
Conventional local planners frequently become trapped in a locally optimal trajectory, primarily due to their inability to traverse obstacles. Having a larger number of topologically distinctive paths increases the likelihood of finding the…
Pedestrian trajectory prediction is critical for ensuring safety in autonomous driving, surveillance systems, and urban planning applications. While early approaches primarily focus on one-hop pairwise relationships, recent studies attempt…
In this paper, we propose a robust and efficient quadrotor motion planning system for fast flight in 3-D complex environments. We adopt a kinodynamic path searching method to find a safe, kinodynamic feasible and minimum-time initial…
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…
For rapid growth in technology and automation, human tasks are being taken over by robots as robots have proven to be better with both speed and precision. One of the major and widespread usages of these robots is in the industrial…
Autonomous driving requires a comprehensive understanding of the surrounding environment for reliable trajectory planning. Previous works rely on dense rasterized scene representation (e.g., agent occupancy and semantic map) to perform…
Exploration is a fundamental problem in robot autonomy. A major limitation, however, is that during exploration robots oftentimes have to rely on on-board systems alone for state estimation, accumulating significant drift over time in large…
Most autonomous navigation systems assume wheeled robots are rigid bodies and their 2D planar workspaces can be divided into free spaces and obstacles. However, recent wheeled mobility research, showing that wheeled platforms have the…
The main contribution of this paper is a novel method for planning globally optimal trajectories for dynamical systems subject to polygonal constraints. The proposed method is a hybrid trajectory planning approach, which combines graph…
Real-time path planning in outdoor environments still challenges modern robotic systems due to differences in terrain traversability, diverse obstacles, and the necessity for fast decision-making. Established approaches have primarily…
In this paper, a novel method for path planning of mobile robots is proposed, taking into account the non-holonomic turn radius constraints and finite dimensions of the robot. The approach involves rasterizing the environment to generate a…
Constrained motion planning is a common but challenging problem in robotic manipulation. In recent years, data-driven constrained motion planning algorithms have shown impressive planning speed and success rate. Among them, the latent…
Efficient, collision-free motion planning is essential for automating large-scale manipulators like timber cranes. They come with unique challenges such as hydraulic actuation constraints and passive joints-factors that are seldom addressed…
As the demands of autonomous mobile robots are increasing in recent years, the requirement of the path planning/navigation algorithm should not be content with the ability to reach the target without any collisions, but also should try to…
Path planning for robotic coverage is the task of determining a collision-free robot trajectory that observes all points of interest in an environment. Robots employed for such tasks are often capable of exercising active control over…
Voxel grids are a minimal and efficient environment representation that is used for robot motion planning in numerous tasks. Many state-of-the-art planning algorithms use voxel grids composed of free, occupied and unknown voxels. In this…
An innovative sort of mobility platform that can both drive and fly is the air-ground robot. The need for an agile flight cannot be satisfied by traditional path planning techniques for air-ground robots. Prior studies had mostly focused on…
This paper presents a method for online trajectory planning in known environments. The proposed algorithm is a fusion of sampling-based techniques and model-based optimization via quadratic programming. The former is used to efficiently…