Related papers: Fast Path Planning Through Large Collections of Sa…
This paper presents aUToPath, a unified online framework for global path-planning and control to address the challenge of autonomous navigation in cluttered urban environments. A key component of our framework is a novel hybrid planner that…
Robotic systems are routinely used in the logistics industry to enhance operational efficiency, but the design of robot workspaces remains a complex and manual task, which limits the system's flexibility to changing demands. This paper aims…
Path planning for 3D solid objects is a challenging problem, requiring a search in a six-dimensional configuration space, which is, nevertheless, essential in many robotic applications such as bin-picking and assembly. The commonly used…
MPC (Model predictive control)-based motion planning and trajectory generation are essential in applications such as unmanned aerial vehicles, robotic manipulators, and rocket control. However, the real-time implementation of such…
We study the problem of motion-planning for free-flying multi-link robots and develop a sampling-based algorithm that is specifically tailored for the task. Our work is based on the simple observation that the set of configurations for…
Coordinating agents through hazardous environments, such as aid-delivering drones navigating conflict zones or field robots traversing deployment areas filled with obstacles, poses fundamental planning challenges. We introduce and analyze…
In this paper, we propose an efficient and accurate method for autonomous surface vehicles to generate a smooth and collision-free trajectory considering its dynamics constraints. We decouple the trajectory planning problem as a front-end…
Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…
We present a novel algorithm for dynamic routing with dedicated path protection which, as the presented simulation results suggest, can be efficient and exact. We present the algorithm in the setting of optical networks, but it should be…
We study the problem of planning collision-free paths for a group of homogeneous robots. We propose a novel approach for turning the paths that were planned egocentrically by the robots, e.g. without taking other robots' moves into account,…
Modern 3D printing technologies and the upcoming mass-customization paradigm call for efficient methods to produce and distribute arbitrarily-shaped 3D objects. This paper introduces an original algorithm to split a 3D model in parts that…
We consider a suboptimal solution path algorithm for the Support Vector Machine. The solution path algorithm is an effective tool for solving a sequence of a parametrized optimization problems in machine learning. The path of the solutions…
Consider a robot operating in an uncertain environment with stochastic, dynamic obstacles. Despite the clear benefits for trajectory optimization, it is often hard to keep track of each obstacle at every time step due to sensing and…
Trajectory Planning is a crucial word in Modern & Advanced Robotics. It's a way of generating a smooth and feasible path for the robot to follow over time. The process primarily takes several factors to generate the path, such as velocity,…
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…
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…
Driving in urban environments often presents difficult situations that require expert maneuvering of a vehicle. These situations become even more challenging when considering large vehicles, such as buses. We present a path planning…
In this paper we consider several problems concerning packet routing in distributed systems. Each problem is formulated using terms from Graph Theory and for each problem we present efficient, novel, algorithmic techniques for computing…
If we give a robot the task of moving an object from its current position to another location in an unknown environment, the robot must explore the map, identify all types of obstacles, and then determine the best route to complete the…
While motion planning approaches for automated driving often focus on safety and mathematical optimality with respect to technical parameters, they barely consider convenience, perceived safety for the passenger and comprehensibility for…