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In this work, we consider the problem of decentralized multi-robot target tracking and obstacle avoidance in dynamic environments. Each robot executes a local motion planning algorithm which is based on model predictive control (MPC). The…
This paper presents a method for local motion planning in unstructured environments with static and moving obstacles, such as humans. Given a reference path and speed, our optimization-based receding-horizon approach computes a local…
To improve safety and energy efficiency, autonomous vehicles are expected to drive smoothly in most situations, while maintaining their velocity below a predetermined speed limit. However, some scenarios such as low road adherence or…
This paper proposes a fast and accurate trajectory planning algorithm for autonomous parking. Nominally, an optimal control problem should be formulated to describe this scheme, but the dimensionality of the optimal control problem is…
The rapid development of robotics has benefited by more and more people putting their attention to it. With the demand for robots is growing for the purpose of fulfilling tasks instead of humans, how to control the robot better is becoming…
Motion planning is a key element of robotics since it empowers a robot to navigate autonomously. Particle Swarm Optimization is a simple, yet a very powerful optimization technique which has been effectively used in many complex…
Planning in environments with moving obstacles remains a significant challenge in robotics. While many works focus on navigation and path planning in obstacle-dense spaces, traversing such congested regions is often avoidable by selecting…
This paper presents a two-step algorithm for online trajectory planning in indoor environments with unknown obstacles. In the first step, sampling-based path planning techniques such as the optimal Rapidly exploring Random Tree (RRT*)…
In Social Robot Navigation, autonomous agents need to resolve many sequential interactions with other agents. State-of-the art planners can efficiently resolve the next, imminent interaction cooperatively and do not focus on longer planning…
Dynamic obstacle avoidance is a popular research topic for autonomous systems, such as micro aerial vehicles and service robots. Accurately evaluating the performance of dynamic obstacle avoidance methods necessitates the establishment of a…
Mobile robots are traditionally developed to be reactive and avoid collisions with surrounding humans, often moving in unnatural ways without following social protocols, forcing people to behave very differently from human-human interaction…
Humans are remarkable at navigating and moving through dynamic and complex spaces, such as crowded streets. For robots to do the same, it is crucial that they are endowed with highly reactive obstacle avoidance robust to partial and poor…
We consider the problem of planning a collision-free path for a high-dimensional robot. Specifically, we suggest a planning framework where a motion-planning algorithm can obtain guidance from a user. In contrast to existing approaches that…
Autonomous driving technology is rapidly evolving and becoming a pivotal element of modern automation systems. Effective decision-making and planning are essential to ensuring autonomous vehicles operate safely and efficiently in complex…
Collision prediction in a dynamic and unknown environment relies on knowledge of how the environment is changing. Many collision prediction methods rely on deterministic knowledge of how obstacles are moving in the environment. However,…
The ability to accurately predict others' behavior is central to the safety and efficiency of interactive robotics. Unfortunately, robots often lack access to key information on which these predictions may hinge, such as other agents'…
This paper introduces a novel motion planning algorithm for stochastic scenarios. We extend the concept of a navigation function to such scenarios. Our main idea is to consider both the Gaussian distribution probabilities of the players'…
Obstacle avoidance is an important task in the field of robotics, since the goal of autonomous robot is to reach the destination without collision. Several algorithms have been proposed for obstacle avoidance, having drawbacks and benefits.…
Humanoid robots maintain balance and navigate by controlling the contact wrenches applied to the environment. While it is possible to plan dynamically-feasible motion that applies appropriate wrenches using existing methods, a humanoid may…
This paper proposes a novel mission planning algorithm for autonomous robots that selects an optimal waypoint sequence from a predefined set to maximize total reward while satisfying obstacle avoidance, state, input, derivative, mission…