Related papers: Real-Time Trajectory Planning for Aerial Perching
Autonomous navigation of ground robots on uneven terrain is being considered in more and more tasks. However, uneven terrain will bring two problems to motion planning: how to assess the traversability of the terrain and how to cope with…
Despite extensive developments in motion planning of autonomous aerial vehicles (AAVs), existing frameworks faces the challenges of local minima and deadlock in complex dynamic environments, leading to increased collision risks. To address…
Traditional one-step preview planning algorithms for bipedal locomotion struggle to generate viable gaits when walking across terrains with restricted footholds, such as stepping stones. To overcome such limitations, this paper introduces a…
Achieving large-scale aerial swarms is challenging due to the inherent contradictions in balancing computational efficiency and scalability. This paper introduces Primitive-Swarm, an ultra-lightweight and scalable planner designed…
Non-prehensile object transportation offers a way to enhance robotic performance in object manipulation tasks, especially with unstable objects. Effective trajectory planning requires simultaneous consideration of robot motion constraints…
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.…
This work considers a Motion Planning Problem with Dynamic Obstacles (MPDO) in 2D that requires finding a minimum-arrival-time collision-free trajectory for a point robot between its start and goal locations amid dynamic obstacles moving…
Motion planning in the presence of multiple dynamic obstacles is an important research problem from the perspective of autonomous vehicles as well as space-constrained multi-robot work environment. In this paper, we address the motion…
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…
Search-based motion planning has been used for mobile robots in many applications. However, it has not been fully developed and applied for planning full state trajectories of Micro Aerial Vehicles (MAVs) due to their complicated dynamics…
In this paper, we propose a novel framework of air traffic management (ATM). The framework is in particular characterized by the trajectory planning of weakly supervised aircraft; the air traffic control (ATC) does not completely determine…
In autonomous navigation, trajectory replanning, refinement, and control command generation are essential for effective motion planning. This paper presents a resilient approach to trajectory replanning addressing scenarios where the…
We present Model Predictive Planning (MPP), a trajectory planner for low-agility vehicles such as a fixed-wing aircraft to navigate obstacle-laden environments. MPP consists of (1) a multi-path planning procedure that identifies candidate…
This paper presents a framework for controlled emergency landing of a quadcopter, experiencing a rotor failure, away from sensitive areas. A complete mathematical model capturing the dynamics of the system is presented that takes the…
Drones equipped with cameras are emerging as a powerful tool for large-scale aerial 3D scanning, but existing automatic flight planners do not exploit all available information about the scene, and can therefore produce inaccurate and…
Among ship maneuvers, berthing/unberthing maneuvers are one of the most challenging and stressful phases for captains. Concerning burden reduction on ship operators and preventing accidents, several researches have been conducted on…
This letter suggests an integrated approach for a drone (or multirotor) to perform an autonomous videography task in a 3-D obstacle environment by following a moving object. The proposed system includes 1) a target motion prediction module…
Automation of excavation tasks requires real-time trajectory planning satisfying various constraints. To guarantee both constraint feasibility and real-time trajectory re-plannability, we present an integrated framework for real-time…
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 many mobile robotics scenarios, such as drone racing, the goal is to generate a trajectory that passes through multiple waypoints in minimal time. This problem is referred to as time-optimal planning. State-of-the-art approaches either…