Related papers: Guiding Vector Fields for Following Occluded Paths
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
Oblique images are aerial photographs taken at oblique angles to the earth's surface. Projections of vector and other geospatial data in these images depend on camera parameters, positions of the geospatial entities, surface terrain,…
In obstacle-dense scenarios, providing safe guidance for mobile robots is critical to improve the safe maneuvering capability. However, the guidance provided by standard guiding vector fields (GVFs) may limit the motion capability due to…
We propose an approach to solve multi-agent path planning (MPP) problems for complex environments. Our method first designs a special pebble graph with a set of feasibility constraints, under which MPP problems have feasibility guarantee.…
Personal mobile robotic assistants are expected to find wide applications in industry and healthcare. For example, people with limited mobility can benefit from robots helping with daily tasks, or construction workers can have robots…
Unlike squared (or alike) quadrotors, elongated bi-copters leverage natural superiority in crossing tight spaces. To date, extensive works have focused on the design, modeling, and control of bi-copters. Besides, a proper motion planner…
Ensuring safety and robustness of robot skills is becoming crucial as robots are required to perform increasingly complex and dynamic tasks. The former is essential when performing tasks in cluttered environments, while the latter is…
Robot navigation traditionally relies on building an explicit map that is used to plan collision-free trajectories to a desired target. In deformable, complex terrain, using geometric-based approaches can fail to find a path due to…
This paper explores the Navigation Among Movable Obstacles (NAMO) problem and proposes joint path and push planning: which path to take and in what direction the obstacles should be pushed at, given a start and goal position. We present a…
Directional fields, including unit vector, line, and cross fields, are essential tools in the geometry processing toolkit. The topology of directional fields is characterized by their singularities. While singularities play an important…
This paper investigates how learning can be used to ease the design of high-quality paths for the assembly of deformable objects. Object dynamics plays an important role when manipulating deformable objects; thus, detailed models are often…
Locomotion for legged robots poses considerable challenges when confronted by obstacles and adverse environments. Footstep planners are typically only designed for one mode of locomotion, but traversing unfavorable environments may require…
We present a unified approach for constraint displacement problems in which a robot finds a feasible path by displacing constraints or obstacles. To this end, we propose a two stage process that returns locally optimal obstacle…
Convex free regions provide a structured and optimization-friendly representation of collision-free space for robot navigation in unknown and cluttered environments. However, existing methods typically enlarge local collision-free regions…
Path generation, the process of converting high-level mission specifications, such as sequences of waypoints from a path planner, into smooth, executable paths, is a fundamental challenge in mobile robotics. Most path following and…
Collective coordinates are frequently employed in path integrals to manage divergences caused by fluctuations around saddle points that align with classical symmetries. These coordinates parameterize a manifold of zero modes and more…
Traversing environments with arbitrary obstacles poses significant challenges for bipedal robots. In some cases, whole body motions may be necessary to maneuver around an obstacle, but most existing footstep planners can only select from a…
To overcome the problem of occlusion in visual tracking, this paper proposes an occlusion-aware tracking algorithm. The proposed algorithm divides the object into discrete image patches according to the pixel distribution of the object by…
Robotic manipulation research has investigated contact-rich problems and strategies that require robots to intentionally collide with their environment, to accomplish tasks that cannot be handled by traditional collision-free solutions. By…
Autonomous vehicles hold great promise in improving the future of transportation. The driving models used in these vehicles are based on neural networks, which can be difficult to validate. However, ensuring the safety of these models is…