Related papers: Guiding Vector Fields for Following Occluded Paths
The high mobility of unmanned aerial vehicles (UAVs) enables them to be used in various civilian fields, such as rescue and cargo transport. Path-following is a crucial way to perform these tasks while sensing and collision avoidance are…
Vehicle tracking is an essential task in the multi-object tracking (MOT) field. A distinct characteristic in vehicle tracking is that the trajectories of vehicles are fairly smooth in both the world coordinate and the image coordinate.…
This paper presents a game-theoretic path-following formulation where the opponent is an adversary road model. This formulation allows us to compute safe sets using tools from viability theory, that can be used as terminal constraints in an…
Voxel-grid reinforcement learning is widely adopted for path planning in redundant manipulators due to its simplicity and reproducibility. However, direct execution through point-wise numerical inverse kinematics on 7-DoF arms often yields…
As legged robots are deployed in industrial and autonomous construction tasks requiring collaborative manipulation, they must handle object manipulation while maintaining stable locomotion. The challenge intensifies in real-world…
Ground robot navigation in complex 3D environments is often hindered by geometric ambiguity, where non-traversable structures such as furniture share local geometric properties with navigable ground. Furthermore, the computational cost of…
This paper initiates the use of vector fields to design, optimize, and implement reactive schedules for safe cooperative robot patterns on planar graphs. We consider Automated Guided Vehicles (AGV's) operating upon a predefined network of…
The deployment of robotic systems in real world environments requires the ability to quickly produce paths through cluttered, non-convex spaces. These planned trajectories must be both kinematically feasible (i.e., collision free) and…
This paper describes the construction of a canonical compactification of the space of trajectories and of the unstable/stable sets of a generic gradient like vector field on a closed manifold as well as a canonical structure of a smooth…
A new path planning method for Mobile Robots (MR) has been developed and implemented. On the one hand, based on the shortest path from the start point to the goal point, this path planner can choose the best moving directions of the MR,…
Ensuring safety and motion consistency for robot navigation in occluded, obstacle-dense environments is a critical challenge. In this context, this study presents an occlusion-aware Consistent Model Predictive Control (CMPC) strategy. To…
We present a fast algorithm for the design of smooth paths (or trajectories) that are constrained to lie in a collection of axis-aligned boxes. We consider the case where the number of these safe boxes is large, and basic preprocessing of…
Ensuring safety in autonomous vehicles necessitates advanced path planning and obstacle avoidance capabilities, particularly in dynamic environments. This paper introduces a bi-level control framework that efficiently augments road…
Autonomous mobile robots offer promising solutions for labor shortages and increased operational efficiency. However, navigating safely and effectively in dynamic environments, particularly crowded areas, remains challenging. This paper…
Navigating robots safely and efficiently in crowded and complex environments remains a significant challenge. However, due to the dynamic and intricate nature of these settings, planning efficient and collision-free paths for robots to…
A novel Neural Network architecture is proposed using the mathematically and physically rich idea of vector fields as hidden layers to perform nonlinear transformations in the data. The data points are interpreted as particles moving along…
Path planning in dynamic environments is essential to high-risk applications such as unmanned aerial vehicles, self-driving cars, and autonomous underwater vehicles. In this paper, we generate collision-free trajectories for a robot within…
Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…
Safe and efficient robot operation in complex human environments can benefit from good models of site-specific motion patterns. Maps of Dynamics (MoDs) provide such models by encoding statistical motion patterns in a map, but existing…
In the context of autonomous robots, one of the most important tasks is to prevent potential damage to the robot during navigation. For this purpose, it is often assumed that one must deal with known probabilistic obstacles, then compute…