Related papers: Efficient Distance-Optimal Tethered Path Planning …
This work proposes a safety-critical local reactive controller that enables the robot to navigate in unknown and cluttered environments. In particular, the trajectory tracking task is formulated as a constrained polynomial optimization…
Sampling-based algorithms for robot path planning offer probabilistic completeness and strong empirical convergence properties across environments with diverse obstacle configurations. However, in practice, these methods often require many…
We introduce and study the Joint Task Assistance Planning problem which generalizes prior work on optimizing assistance in robotic collaboration. In this setting, two robots operate over predefined roadmaps, each represented as a graph…
In recent times, an increasing number of researchers have been devoted to utilizing deep neural networks for end-to-end flight navigation. This approach has gained traction due to its ability to bridge the gap between perception and…
Nonconvexity induced by the nonlinear AC power flow equations challenges solution algorithms for AC optimal power flow (OPF) problems. While significant research efforts have focused on reliably computing high-quality OPF solutions, it is…
A long series of recent results and breakthroughs have led to faster and better distributed approximation algorithms for single source shortest paths (SSSP) and related problems in the CONGEST model. The runtime of all these algorithms,…
Multi-robot path finding in dynamic environments is a highly challenging classic problem. In the movement process, robots need to avoid collisions with other moving robots while minimizing their travel distance. Previous methods for this…
Practical global path planning is critical for commercializing cleaning robots working in semi-structured environments. In the literature, global path planning methods for free space usually focus on path length and neglect the traffic rule…
While multi-joint continuum robots are highly dexterous and flexible, designing an optimal robot can be challenging due to its kinematics involving curvatures. Hence, the current work presents a computational method developed to find…
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…
An emerging class of trajectory optimization methods enforces collision avoidance by jointly optimizing the robot's configuration and a separating hyperplane. However, as linear separators only apply to convex sets, these methods require…
We study the problem of quickly computing point-to-point shortest paths in massive road networks with traffic predictions. Incorporating traffic predictions into routing allows, for example, to avoid commuter traffic congestions. Existing…
Autonomous terrain traversal of articulated tracked robots can reduce operator cognitive load to enhance task efficiency and facilitate extensive deployment. We present a novel hybrid trajectory optimization method aimed at generating…
In this series of papers, we present a motion planning framework for planning comfortable and customizable motion of nonholonomic mobile robots such as intelligent wheelchairs and autonomous cars. In Part I, we presented the mathematical…
This paper presents a novel convex optimization-based method for finding the globally optimal solutions of a class of mixed-integer non-convex optimal control problems. We consider problems with non-convex constraints that restrict the…
Many municipalities and large organizations have fleets of vehicles that need to be coordinated for tasks such as garbage collection or infrastructure inspection. Motivated by this need, this paper focuses on the common subproblem in which…
The main contribution of this paper is a novel method for planning globally optimal trajectories for dynamical systems subject to polygonal constraints. The proposed method is a hybrid trajectory planning approach, which combines graph…
This paper considers the path planning problem for autonomous exploration of an unknown environment using multiple heterogeneous robots such as drones, wheeled, and legged robots, which have different capabilities to traverse complex…
Robotic pick-and-place (PnP) operations on moving conveyors find a wide range of industrial applications. In practice, simple greedy heuristics (e.g., prioritization based on the time to process a single object) are applied that achieve…
We present a method to find globally optimal topology and trajectory jointly for planar linkages. Planar linkage structures can generate complex end-effector trajectories using only a single rotational actuator, which is very useful in…