Related papers: Reshaping Viscoelastic-String Path-Planner (RVP)
Developing robust locomotion for humanoid robots is a complex task due to the unstable nature of these robots and also to the unpredictability of the terrain. A robust locomotion planner is one of the fundamental components for generating…
When the dynamics of a system are difficult to model and/or time-consuming to evaluate, such as in deformable object manipulation tasks, motion planning algorithms struggle to find feasible plans efficiently. Such problems are often reduced…
We propose a novel receding horizon planner for an autonomous surface vehicle (ASV) performing path planning in urban waterways. Feasible paths are found by repeatedly generating and searching a graph reflecting the obstacles observed in…
This project has conducted research on robot path planning based on Visual SLAM. The main work of this project is as follows: (1) Construction of Visual SLAM system. Research has been conducted on the basic architecture of Visual SLAM. A…
We introduce Reactive Action and Motion Planner (RAMP), which combines the strengths of sampling-based and reactive approaches for motion planning. In essence, RAMP is a hierarchical approach where a novel variant of a Model Predictive Path…
The ability to update a path plan is a required capability for autonomous mobile robots navigating through uncertain environments. This paper proposes a re-planning strategy using a multilayer planning and control framework for cases where…
Robot path planning plays a pivotal role in enabling autonomous systems to navigate safely and efficiently in complex and uncertain environments. Despite extensive research on classical graph-based methods and sampling-based planners,…
Voxel-grid reinforcement learning is widely adopted for path planning in redundant manipulators due to its simplicity and reproducibility. However, direct execution through point-wise numerical inverse kinematics on 7-DoF arms often yields…
This paper introduces RouteFinder, a comprehensive foundation model framework to tackle different Vehicle Routing Problem (VRP) variants. Our core idea is that a foundation model for VRPs should be able to represent variants by treating…
Unstructured environments such as mountains, caves, construction sites, or disaster areas are challenging for autonomous navigation because of terrain irregularities. In particular, it is crucial to plan a path to avoid risky terrain and…
The hierarchy of global and local planners is one of the most commonly utilized system designs in autonomous robot navigation. While the global planner generates a reference path from the current to goal locations based on the pre-built…
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…
Autonomous vehicle navigation in structured environments requires planners capable of generating time-optimal, collision-free trajectories that satisfy dynamic and kinematic constraints. We introduce V*, a graph-based motion planner that…
World models simulate environment dynamics from raw sensory inputs like video. However, using them for planning can be challenging due to the vast and unstructured search space. We propose a robust and highly parallelizable planner that…
Robotic fiber positioner (RFP) arrays are becoming heavily adopted in wide field massively multiplexed spectroscopic survey instruments. RFP arrays decrease nightly operational overheads through rapid reconfiguration between fields and…
Logistics and transport are core of many industrial and business processes. One of the most promising segments in the field is optimisation of vehicle routes. Scientific effort is focused primarily on algorithms developed in simplified…
Constrained robot motion planning is a ubiquitous need for robots interacting with everyday environments, but it is a notoriously difficult problem to solve. Many sampled points in a sample-based planner need to be rejected as they fall…
Autonomous systems, including robots and drones, face significant challenges when navigating through dynamic environments, particularly within urban settings where obstacles, fluctuating traffic, and pedestrian activity are constantly…
Quadruped robots have received increasing attention for the past few years. However, existing works primarily focus on static environments or assume the robot has full observations of the environment. This limits their practical…
Robotic manipulators operating in dynamic and uncertain environments require efficient motion planning to navigate obstacles while maintaining smooth trajectories. Velocity Potential Field (VPF) planners offer real-time adaptability but…