Related papers: Guiding Vector Fields for Following Occluded Paths
This paper focuses on the motion planning for mobile robots in 3D, which are modelled by 6-DOF rigid body systems with nonholonomic kinematics constraints. We not only specify the target position, but also bring in the requirement of the…
The present article advances the concept of a non-singular cooperative guiding vector field under a homotopy equivalence transformation. Firstly, the derivation of a guiding vector field, based on a non-singular vector field, is elaborated…
Navigating cluttered environments is a challenging task for any mobile system. Existing approaches for ground-based mobile systems primarily focus on small wheeled robots, which face minimal constraints with overhanging obstacles and cannot…
We design a distributed coordinated guiding vector field (CGVF) for a group of robots to achieve ordering-flexible motion coordination while maneuvering on a desired two-dimensional (2D) surface. The CGVF is characterized by three terms,…
In this paper, we propose a distributed guiding-vector-field (DGVF) algorithm for a team of robots to form a spontaneous-ordering platoon moving along a predefined desired path in the n-dimensional Euclidean space. Particularly, by adding a…
Vector fields are advantageous in handling nonholonomic motion planning as they provide reference orientation for robots. However, additionally incorporating curvature constraints becomes challenging, due to the interconnection between the…
This paper presents a decentralized, collision-free framework for path following guidance of multiple uncrewed aerial vehicles (UAVs), while maintaining uniform spacing along a reference path. A vector field-based guidance law is employed…
This paper presents an algorithm for solving the problem of tracking smooth curves by a fixed wing unmanned aerial vehicle travelling with a constant airspeed and under a constant wind disturbance. The algorithm is based on the idea of…
This paper presents a robust tracking controller for tracking curvature-constrained paths by vehicles/robots with uncertain Dubins dynamics. Although Dubins paths have been widely used in vehicular and robotic applications, robust and…
This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…
Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…
Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…
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…
Learning robot motions from demonstration requires models able to specify vector fields for the full robot pose when the task is defined in operational space. Recent advances in reactive motion generation have shown that learning adaptive,…
The problem of finding a path between two points while avoiding obstacles is critical in robotic path planning. We focus on the feasibility problem: determining whether such a path exists. We model the robot as a query-specific rectangular…
Robotic assistance allows surgeons to perform dexterous and tremor-free procedures, but is still underrepresented in deep brain neurosurgery and endonasal surgery where the workspace is constrained. In these conditions, the vision of…
Precise motion control of underactuated surface vessels is a crucial task in various maritime applications. In this work, we develop a nonlinear motion control strategy for surface vessels inspired by the pursuit guidance philosophy. Any…
Estimating collision probabilities between robots and environmental obstacles or other moving agents is crucial to ensure safety during path planning. This is an important building block of modern planning algorithms in many application…
The pipeline of current robotic pick-and-place methods typically consists of several stages: grasp pose detection, finding inverse kinematic solutions for the detected poses, planning a collision-free trajectory, and then executing the…
This paper deals with a path planning and intelligent control of an autonomous robot which should move safely in partially structured environment. This environment may involve any number of obstacles of arbitrary shape and size; some of…