Related papers: Motion Planning for Multirotor Aerial Vehicles in …
In this work, we propose a method to efficiently compute smooth, time-optimal trajectories for micro aerial vehicles (MAVs) evading a moving obstacle. Our approach first computes an n-dimensional trajectory from the start- to an arbitrary…
In this work, we propose a search-based planning method to compute dynamically feasible trajectories for a quadrotor flying in an obstacle-cluttered environment. Our approach searches for smooth, minimum-time trajectories by exploring the…
Aerial manipulation combines the maneuverability of multirotors with the dexterity of robotic arms to perform complex tasks in cluttered spaces. Yet planning safe, dynamically feasible trajectories remains difficult due to whole-body…
This paper studies the motion planning problem of the pick-and-place of an aerial manipulator that consists of a quadcopter flying base and a Delta arm. We propose a novel partially decoupled motion planning framework to solve this problem.…
Planning time-optimal trajectories for quadrotors in cluttered environments is a challenging, non-convex problem. This paper addresses minimizing the traversal time of a given collision-free geometric path without violating bounds on…
This paper introduces a methodology for task-specific design optimization of multirotor Micro Aerial Vehicles. By leveraging reinforcement learning, Bayesian optimization, and covariance matrix adaptation evolution strategy, we optimize…
This paper investigates the differentiable dynamic modeling of mobile manipulators to facilitate efficient motion planning and physical design of actuators, where the actuator design is parameterized by physically meaningful motor geometry…
Autonomous ground vehicles (AGVs) are receiving increasing attention, and the motion planning and control problem for these vehicles has become a hot research topic. In real applications such as material handling, an AGV is subject to large…
This paper investigates a hybrid compositional approach to optimal mission planning for multi-rotor Unmanned Aerial Vehicles (UAVs). We consider a time critical search and rescue scenario with two quadrotors in a constrained environment.…
This paper presents an integrated motion planning system for autonomous vehicle (AV) parking in the presence of other moving vehicles. The proposed system includes 1) a hybrid environment predictor that predicts the motions of the…
Trajectory generation in dynamic environments presents a significant challenge for quadrotors, particularly due to the non-convexity in the spatial-temporal domain. Many existing methods either assume simplified static environments or…
The Unmanned Aerial Vehicle (UAV) path planning problem is a complex optimization problem in the field of robotics. In this paper, we investigate the possible utilization of this problem in benchmarking global optimization methods. We…
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,…
This paper presents a systematic approach for computing local solutions to motion planning problems in non-convex environments using numerical optimal control techniques. It extends the range of use of state-of-the-art numerical optimal…
Unmanned aerial vehicles (UAVs) can offer timely and cost-effective delivery of high-quality sensing data. How- ever, deciding when and where to take measurements in complex environments remains an open challenge. To address this issue, we…
We present an evaluation of several representative sampling-based and optimization-based motion planners, and then introduce an integrated motion planning system which incorporates recent advances in trajectory optimization into a sparse…
One of the most critical features for the successful operation of autonomous UAVs is the ability to make decisions based on the information acquired from their surroundings. Each UAV must be able to make decisions during the flight in order…
Autonomous navigation in dynamic environment heavily depends on the environment and its topology. Prior knowledge of the environment is not usually accurate as the environment keeps evolving in time. Since robot is continuously evaluating…
This paper presents a method for constrained motion planning from vision, which enables a robot to move its end-effector over an observed surface, given start and destination points. The robot has no prior knowledge of the surface shape,…
One of the critical challenges in automated driving is ensuring safety of automated vehicles despite the unknown behavior of the other vehicles. Although motion prediction modules are able to generate a probability distribution associated…