Related papers: Vision-aided UAV navigation and dynamic obstacle a…
Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…
While Unmanned Aerial Vehicles (UAVs) have gained significant traction across various fields, path planning in 3D environments remains a critical challenge, particularly under size, weight, and power (SWAP) constraints. Traditional modular…
Obstacle avoidance in unmanned aerial vehicles (UAVs), as a fundamental capability, has gained increasing attention with the growing focus on spatial intelligence. However, current obstacle-avoidance methods mainly depend on limited…
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…
We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on pretrained learned networks or computationally expensive…
To perform autonomous driving maneuvers, such as parallel or perpendicular parking, a vehicle requires continual speed and steering adjustments to follow a generated path. In consequence, the path's quality is a limiting factor of the…
Multi-robot systems have begun to permeate into a variety of different fields, but collision-free navigation in a decentralized manner is still an arduous task. Typically, the navigation of high speed multi-robot systems demands replanning…
Aerial robots can enhance construction site productivity by autonomously handling inspection and mapping tasks. However, ensuring safe navigation near human workers remains challenging. While navigation in static environments has been well…
This paper presents algorithms to navigate and avoid obstacles for an in-door autonomous mobile robot. A laser range finder is used to obtain 3D images of the environment. A new algorithm, namely 3D-to-2D image pressure and barriers…
Mobile robots in unstructured, mapless environments must rely on an obstacle avoidance module to navigate safely. The standard avoidance techniques estimate the locations of obstacles with respect to the robot but are unaware of the…
We present an algorithm for safe robot navigation in complex dynamic environments using a variant of model predictive equilibrium point control. We use an optimization formulation to navigate robots gracefully in dynamic environments by…
Obstacle avoidance is a key feature for safe Unmanned Aerial Vehicle (UAV) navigation. While solutions have been proposed for static obstacle avoidance, systems enabling avoidance of dynamic objects, such as drones, are hard to implement…
Collision-free, goal-directed navigation in environments containing unknown static and dynamic obstacles is still a great challenge, especially when manual tuning of navigation policies or costly motion prediction needs to be avoided. In…
For accomplishing a variety of missions in challenging environments, the capability of navigating with full autonomy while avoiding unexpected obstacles is the most crucial requirement for UAVs in real applications. In this paper, we…
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 decentralised trajectory generation algorithm for Multi Agent systems is presented. Multi-robot systems have the capacity to transform lives in a variety of fields. But, trajectory generation for multi-robot systems is still in its…
Safe and efficient path planning in parking scenarios presents a significant challenge due to the presence of cluttered environments filled with static and dynamic obstacles. To address this, we propose a novel and computationally efficient…
Learning-based motion planning can quickly generate near-optimal trajectories. However, it often requires either large training datasets or costly collection of human demonstrations. This work proposes an alternative approach that quickly…
As robots operate in increasingly complex and dynamic environments, fast motion re-planning has become a widely explored area of research. In a real-world deployment, we often lack the ability to fully observe the environment at all times,…
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…