Related papers: Simultaneous Control and Trajectory Estimation for…

Connected and automated vehicles have shown great potential in improving traffic mobility and reducing emissions, especially at unsignalized intersections. Previous research has shown that vehicle passing order is the key influencing factor…

Multi-modal behaviors exhibited by surrounding vehicles (SVs) can typically lead to traffic congestion and reduce the travel efficiency of autonomous vehicles (AVs) in dense traffic. This paper proposes a real-time parallel trajectory…

We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…

This paper presents an optimization-based receding horizon trajectory planning algorithm for dynamical systems operating in unstructured and cluttered environments. The proposed approach is a two-step procedure that uses a motion planning…

Robotic systems, particularly in demanding environments like narrow corridors or disaster zones, often grapple with imperfect state estimation. Addressing this challenge requires a trajectory plan that not only navigates these restrictive…

We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments cluttered with obstacles having arbitrary convex shapes. The proposed navigation approach relies on a hybrid feedback to guarantee global…

Navigating safely in dynamic human environments is crucial for mobile service robots, and social navigation is a key aspect of this process. In this paper, we proposed an integrative approach that combines motion prediction and trajectory…

This paper introduces a novel motion planning algorithm for stochastic scenarios. We extend the concept of a navigation function to such scenarios. Our main idea is to consider both the Gaussian distribution probabilities of the players'…

Ensuring safety for spacecraft operations has become a paramount concern due to the proliferation of space debris and the saturation of valuable orbital regimes. In this regard, the Collision Avoidance Manoeuvre (CAM) has emerged as a…

Coordination of dynamical routes can alleviate traffic congestion and is essential for the coming era of autonomous self-driving cars. However, dynamical route coordination is difficult and many existing routing protocols are either static…

Control schemes for autonomous systems are often designed in a way that anticipates the worst case in any situation. At runtime, however, there could exist opportunities to leverage the characteristics of specific environment and operation…

This paper introduces a graph-based, potential-guided method for path planning problems in unknown environments, where obstacles are unknown until the robots are in close proximity to the obstacle locations. Inspired by optimal transport…

Spacecraft relative motion planning is concerned with the design and execution of maneuvers relative to a nominal target. These types of maneuvers are frequently utilized in missions such as rendezvous and docking, satellite inspection and…

This paper presents an optimization-based collision avoidance trajectory generation method for autonomous driving in free-space environments, with enhanced robustness, driving comfort and efficiency. Starting from the hybrid…

Safe robot navigation is a fundamental research field for autonomous robots including ground mobile robots and flying robots. The primary objective of a safe robot navigation algorithm is to guide an autonomous robot from its initial…

The anticipated launch of fully autonomous vehicles presents an opportunity to develop and implement novel traffic management systems. Intersections are one of the bottlenecks for urban traffic, and thus offer tremendous potential for…

This paper presents a decentralized and asynchronous systematic solution for multi-robot autonomous navigation in unknown obstacle-rich scenes using merely onboard resources. The planning system is formulated under gradient-based local…

This study deals with the problem of task and motion planning of autonomous systems within the context of high-level tasks. Specifically, a task comprises logical requirements (conjunctions, disjunctions, and negations) on the trajectories…

We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors…

Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…