Related papers: Hybrid Map-Based Path Planning for Robot Navigatio…
This paper presents algorithms to navigate and avoid obstacles for an in-door autonomous mobile robot. A laser range finder is used to obtain 3D images of the environment. A new algorithm, namely 3D-to-2D image pressure and barriers…
Mapping is essential in robotics and autonomous systems because it provides the spatial foundation for path planning. Efficient mapping enables planning algorithms to generate reliable paths while ensuring safety and adapting in real time…
On construction sites, progress must be monitored continuously to ensure that the current state corresponds to the planned state in order to increase efficiency, safety and detect construction defects at an early stage. Autonomous mobile…
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…
Visual robot navigation within large-scale, semi-structured environments deals with various challenges such as computation intensive path planning algorithms or insufficient knowledge about traversable spaces. Moreover, many…
In unstructured environments, obstacles are diverse and lack lane markings, making trajectory planning for intelligent vehicles a challenging task. Traditional trajectory planning methods typically involve multiple stages, including path…
Despite recent progress on trajectory planning of multiple robots and path planning of a single tethered robot, planning of multiple tethered robots to reach their individual targets without entanglements remains a challenging problem. In…
Autonomous navigation of ground robots on uneven terrain is being considered in more and more tasks. However, uneven terrain will bring two problems to motion planning: how to assess the traversability of the terrain and how to cope with…
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…
Path planning is an important problem with the the applications in many aspects, such as video games, robotics etc. This paper proposes a novel method to address the problem of Deep Reinforcement Learning (DRL) based path planning for a…
Autonomous navigation of ground robots has been widely used in indoor structured 2D environments, but there are still many challenges in outdoor 3D unstructured environments, especially in rough, uneven terrains. This paper proposed a…
This paper presents a novel planning method that achieves navigation of multi-robot formations in cluttered environments, while maintaining the formation throughout the robots motion. The method utilises a decentralised approach to find…
This paper explores a rapid, optimal smooth path-planning algorithm for robots (e.g., autonomous vehicles) in point cloud environments. Derivative maps such as dense point clouds, mesh maps, Octomaps, etc. are frequently used for path…
Path planning is a basic capability of autonomous mobile robots. Former approaches in path planning exploit only the given geometric information from the environment without leveraging the inherent semantics within the environment. The…
It is necessary for a mobile robot to be able to efficiently plan a path from its starting, or current, location to a desired goal location. This is a trivial task when the environment is static. However, the operational environment of the…
Autonomous mobile robots operating in complex, dynamic environments face the dual challenge of navigating large-scale, structurally diverse spaces with static obstacles while safely interacting with various moving agents. Traditional…
This paper introduces a real-time algorithm for navigating complex unknown environments cluttered with movable obstacles. Our algorithm achieves fast, adaptable routing by actively attempting to manipulate obstacles during path planning and…
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…
This paper addresses the problem of the communication of optimally compressed information for mobile robot path-planning. In this context, mobile robots compress their current local maps to assist another robot in reaching a target in an…
Producing robust task plans in human-robot collaborative missions is a critical activity in order to increase the likelihood of these missions completing successfully. Despite the broad research body in the area, which considers different…