Related papers: A Novel Vector-Field-Based Motion Planning Algorit…
In this paper we introduce and study a new concept of parametrised topological complexity, a topological invariant motivated by the motion planning problem of robotics. In the parametrised setting, a motion planning algorithm has high…
This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…
We propose to take a novel approach to robot system design where each building block of a larger system is represented as a differentiable program, i.e. a deep neural network. This representation allows for integrating algorithmic planning…
This paper presents a multi-contact motion adaptation framework that enables teleoperation of high degree-of-freedom (DoF) robots, such as quadrupeds and humanoids, for loco-manipulation tasks in multi-contact settings. Our proposed…
Legged robots, particularly quadrupeds, offer promising navigation capabilities, especially in scenarios requiring traversal over diverse terrains and obstacle avoidance. This paper addresses the challenge of enabling legged robots to…
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…
Recent work has demonstrated real-time mapping and reconstruction from dense perception, while motion planning based on distance fields has been shown to achieve fast, collision-free motion synthesis with good convergence properties.…
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,…
We propose an algorithm to (i) learn online a deep signed distance function (SDF) with a LiDAR-equipped robot to represent the 3D environment geometry, and (ii) plan collision-free trajectories given this deep learned map. Our algorithm…
We propose a novel centralized and decoupled algorithm, DDM, for solving multi-robot path planning problems in grid graphs, targeting on-demand and automated warehouse-like settings. Two settings are studied: a traditional one whose…
Recent advancements in self-driving car technologies have enabled them to navigate autonomously through various environments. However, one of the critical challenges in autonomous vehicle operation is trajectory planning, especially in…
For rapid growth in technology and automation, human tasks are being taken over by robots as robots have proven to be better with both speed and precision. One of the major and widespread usages of these robots is in the industrial…
This paper presents a novel quasi-centralized approach for collision-free path planning of multi-robot systems (MRS) in obstacle-ridden environments. A new formation potential fields (FPF) concept is proposed around a virtual agent, located…
It is essential in many applications to impose a scalable coordinated motion control on a large group of mobile robots, which is efficient in tasks requiring repetitive execution, such as environmental monitoring. In this paper, we design a…
In this paper, we address the problem of real-time motion planning for multiple robotic manipulators that operate in close proximity. We build upon the concept of dynamic fabrics and extend them to multi-robot systems, referred to as…
This letter suggests an integrated approach for a drone (or multirotor) to perform an autonomous videography task in a 3-D obstacle environment by following a moving object. The proposed system includes 1) a target motion prediction module…
We present a navigation system that combines ideas from hierarchical planning and machine learning. The system uses a traditional global planner to compute optimal paths towards a goal, and a deep local trajectory planner and velocity…
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…
Manipulation of objects by exploiting their contact with the environment can enhance both the dexterity and payload capability of robotic manipulators. A common way to manipulate heavy objects beyond the payload capability of a robot is to…
In this paper, we propose a novel and distributed formation control method for autonomous robots to follow the desired formation while tracking a moving target in dynamic environments. In our approach, the desired formations, which include…