Related papers: Towards Efficient Trajectory Generation for Ground…
Local planning is an optimization process within a mobile robot navigation stack that searches for the best velocity vector, given the robot and environment state. Depending on how the optimization criteria and constraints are defined, some…
This paper presents a search-based partial motion planner to generate dynamically feasible trajectories for car-like robots in highly dynamic environments. The planner searches for smooth, safe, and near-time-optimal trajectories by…
Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…
Navigating cluttered environments is a challenging task for any mobile system. Existing approaches for ground-based mobile systems primarily focus on small wheeled robots, which face minimal constraints with overhanging obstacles and cannot…
An effective method for optimizing path planning for a specific model of a 6-degree-of-freedom (6-DOF) robot manipulator is presented as part of the motion planning of the manipulator using computer algebra. We assume that we are given a…
Most autonomous navigation systems assume wheeled robots are rigid bodies and their 2D planar workspaces can be divided into free spaces and obstacles. However, recent wheeled mobility research, showing that wheeled platforms have the…
Fast and accurate path planning is important for ground robots to achieve safe and efficient autonomous navigation in unstructured outdoor environments. However, most existing methods exploiting either 2D or 2.5D maps struggle to balance…
Mobile robots, especially those driving outdoors and in unstructured terrain, sometimes suffer from failures and errors in locomotion, like unevenly pressurized or flat tires, loose axes or de-tracked tracks. Those are errors that go…
In this paper, we deal with the problem of full-body path planning for walking robots. The state of walking robots is defined in multi-dimensional space. Path planning requires defining the path of the feet and the robot's body. Moreover,…
This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…
Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…
We deal with the problem of planning collision-free trajectories for robots operating in a shared space. Given the start and destination position for each of the robots, the task is to find trajectories for all robots that reach their…
As the demands of autonomous mobile robots are increasing in recent years, the requirement of the path planning/navigation algorithm should not be content with the ability to reach the target without any collisions, but also should try to…
Achieving long term autonomy of robots operating in dynamic environments such as farms remains a significant challenge. Arguably, the most demanding factors to achieve this are the on-board resource constraints such as energy, planning in…
We present a complete framework for fast motion planning of non-holonomic autonomous mobile robots in highly complex but structured environments. Conventional grid-based planners struggle with scalability, while many kinematically-feasible…
This paper presents a framework that allows online dynamic-stability-constrained optimal trajectory planning of a mobile manipulator robot working on rough terrain. First, the kinematics model of a mobile manipulator robot, and the Zero…
We propose a method to generate actuation plans for a reduced order, dynamic model of bipedal running. This method explicitly enforces robustness to ground uncertainty. The plan generated is not a fixed body trajectory that is aggressively…
Trajectory planning for mobile robots in cluttered environments remains a major challenge due to narrow passages, where conventional methods often fail or generate suboptimal paths. To address this issue, we propose the adaptive trajectory…
We present a novel approach to path planning for robotic manipulators, in which paths are produced via iterative optimisation in the latent space of a generative model of robot poses. Constraints are incorporated through the use of…
In this paper, we present a novel approach to efficiently generate collision-free optimal trajectories for multiple non-holonomic mobile robots in obstacle-rich environments. Our approach first employs a graph-based multi-agent path planner…