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We present an algorithm that produces a plan for relocating obstacles in order to grasp a target in clutter by a robotic manipulator without collisions. We consider configurations where objects are densely populated in a constrained and…

We present a footstep planning policy for quadrupedal locomotion that is able to directly take into consideration a-priori safety information in its decisions. At its core, a learning process analyzes terrain patches, classifying each…

With the increasing integration of robots into human life, their role in architectural spaces where people spend most of their time has become more prominent. While motion capabilities and accurate localization for automated robots have…

Autonomous mobile robots operating in human-shared indoor environments often require paths that reflect human spatial intentions, such as avoiding interference with pedestrian flow or maintaining comfortable clearance. However, conventional…

Dynamic traversal of uneven terrain is a major objective in the field of legged robotics. The most recent model predictive control approaches for these systems can generate robust dynamic motion of short duration; however, planning over a…

The growing spread of robots for service and industrial purposes calls for versatile, intuitive and portable interaction approaches. In particular, in industrial environments, operators should be able to interact with robots in a fast,…

In many mobile robotics scenarios, such as drone racing, the goal is to generate a trajectory that passes through multiple waypoints in minimal time. This problem is referred to as time-optimal planning. State-of-the-art approaches either…

Aerial robots have the potential to play a crucial role in assisting humans with complex and dangerous tasks. Nevertheless, the future industry demands innovative solutions to streamline the interaction process between humans and drones to…

Path planning is a classic problem for autonomous robots. To ensure safe and efficient point-to-point navigation an appropriate algorithm should be chosen keeping the robot's dimensions and its classification in mind. Autonomous robots use…

Integrating artificial intelligence (AI) into sampling-based motion planning provides new possibilities for improving autonomous navigation efficiency. In this paper, three algorithms, namely RRT*, Neural RRT*, and Neural Informed RRT*, are…

Collision avoidance in unknown obstacle-cluttered environments may not always be feasible. This paper focuses on an emerging paradigm shift in which potential collisions with the environment can be harnessed instead of being avoided…

Path planning is an important component in any highly automated vehicle system. In this report, the general problem of path planning is considered first in partially known static environments where only static obstacles are present but the…

This paper addresses the problem of guiding a quadrotor through a predefined sequence of waypoints in cluttered environments, aiming to minimize the flight time while avoiding collisions. Previous approaches either suffer from prolonged…

Robot path planning model based on RNN and visual quality evaluation in the context of crowds is analyzed in this paper. Mobile robot path planning is the key to robot navigation and an important field in robot research. Let the motion…

Learning-based methods are increasingly popular for search algorithms in single-criterion optimization problems. In contrast, for multiple-criteria optimization there are significantly fewer approaches despite the existence of numerous…

Motion planning in high-dimensional space is a challenging task. In order to perform dexterous manipulation in an unstructured environment, a robot with many degrees of freedom is usually necessary, which also complicates its motion…

Path planning with strong environmental adaptability plays a crucial role in robotic navigation in unstructured outdoor environments, especially in the case of low-quality location and map information. The path planning ability of a robot…

The complexity of a legged robot's environment or task can inform how specialised its gait must be to ensure success. Evolving specialised robotic gaits demands many evaluations - acceptable for computer simulations, but not for physical…

Context: Software engineering is becoming more and more distributed. Developers and other stakeholders are often located in different locations, departments, and countries and operating within different time zones. Most online software…

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…