Related papers: ST-RRT*: Asymptotically-Optimal Bidirectional Moti…
Autonomous vehicle navigation in structured environments requires planners capable of generating time-optimal, collision-free trajectories that satisfy dynamic and kinematic constraints. We introduce V*, a graph-based motion planner that…
This document is a thesis on the subject of single-agent on-line path planning in continuous,unpredictable and highly dynamic environments. The problem is finding and traversing a collision-free path for a holonomic robot, without…
The concept of path homotopy has received widely attention in the field of path planning in recent years. In this article, a homotopy invariant based on convex dissection for a two-dimensional bounded Euclidean space is developed, which can…
In this paper, we present an optimization based method for path planning of a mobile robot subject to time bounded temporal constraints, in a dynamic environment. Temporal logic (TL) can address very complex task specification such as…
Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…
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…
Recent advancements in self-driving car technologies have enabled them to navigate autonomously through various environments. However, one of the critical challenges in autonomous vehicle operation is trajectory planning, especially in…
If we give a robot the task of moving an object from its current position to another location in an unknown environment, the robot must explore the map, identify all types of obstacles, and then determine the best route to complete the…
Path planning is one of the most vital elements of mobile robotics, providing the agent with a collision-free route through the workspace. The global path plan can be calculated with a variety of informed search algorithms, most notably the…
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…
Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…
The urban environment is amongst the most difficult domains for autonomous vehicles. The vehicle must be able to plan a safe route on challenging road layouts, in the presence of various dynamic traffic participants such as vehicles,…
In this paper, we develop a new algorithm, called T$^{\star}$-Lite, that enables fast time-risk optimal motion planning for variable-speed autonomous vehicles. The T$^{\star}$-Lite algorithm is a significantly faster version of the…
Motion planning with simple objectives, such as collision-avoidance and goal-reaching, can be solved efficiently using modern planners. However, the complexity of the allowed tasks for these planners is limited. On the other hand, signal…
Robust navigation in changing marine environments requires autonomous systems capable of perceiving, reasoning, and acting under uncertainty. This study introduces a hybrid risk-aware navigation architecture that integrates probabilistic…
Planning time-optimal trajectories for quadrotors in cluttered environments is a challenging, non-convex problem. This paper addresses minimizing the traversal time of a given collision-free geometric path without violating bounds on…
Motion planning is a key element of robotics since it empowers a robot to navigate autonomously. Particle Swarm Optimization is a simple, yet a very powerful optimization technique which has been effectively used in many complex…
Many robot planning tasks require satisfaction of one or more constraints throughout the entire trajectory. For geometric constraints, manifold-constrained motion planning algorithms are capable of planning collision-free path between start…
We address the problem of planning robot motions in constrained configuration spaces where the constraints change throughout the motion. The problem is formulated as a fixed sequence of intersecting manifolds, which the robot needs to…
Rapidly-exploring random trees (RRTs) have been widely adopted for robot motion planning due to their robustness and theoretical guarantees. However, existing RRT-based planners require explicit goal configurations specified as numerical…