Related papers: Reducing Onboard Processing Time for Path Planning…
Safe and efficient path planning in parking scenarios presents a significant challenge due to the presence of cluttered environments filled with static and dynamic obstacles. To address this, we propose a novel and computationally efficient…
This paper reviews the overview of the dynamic shortest path routing problem and the various neural networks to solve it. Different shortest path optimization problems can be solved by using various neural networks algorithms. The routing…
Visual navigation has been widely used for state estimation of micro aerial vehicles (MAVs). For stable visual navigation, MAVs should generate perception-aware paths which guarantee enough visible landmarks. Many previous works on…
As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…
While maximizing line-of-sight coverage of specific regions or agents in the environment is a well-explored path planning objective, the converse problem of minimizing exposure to the entire environment during navigation is especially…
This paper introduces a new paradigm of optimal path planning, i.e., passage-traversing optimal path planning (PTOPP), that optimizes paths' traversed passages for specified optimization objectives. In particular, PTOPP is utilized to find…
This paper introduces a novel algorithm combination designed for fast one-to-many multicriteria shortest path search. A preprocessing algorithm excludes irrelevant vertices by building a smaller cover graph. A modified version of…
Path planning plays an important role in autonomous robot systems. Effective understanding of the surrounding environment and efficient generation of optimal collision-free path are both critical parts for solving path planning problem.…
With the recent influx in demand for multi-robot systems throughout industry and academia, there is an increasing need for faster, robust, and generalizable path planning algorithms. Similarly, given the inherent connection between control…
In drone racing, the time-minimum trajectory is affected by the drone's capabilities, the layout of the race track, and the configurations of the gates (e.g., their shapes and sizes). However, previous studies neglect the configuration of…
Fast and efficient path generation is critical for robots operating in complex environments. This motion planning problem is often performed in a robot's actuation or configuration space, where popular pathfinding methods such as A*, RRT*,…
Acquiring plausible pathways on high-dimensional structural distributions is beneficial in several domains. For example, in the drug discovery field, a protein conformational pathway, i.e. a highly probable sequence of protein structural…
Constructing precise 3D maps is crucial for the development of future map-based systems such as self-driving and navigation. However, generating these maps in complex environments, such as multi-level parking garages or shopping malls,…
Path-planning algorithms are an important part of a wide variety of robotic applications, such as mobile robot navigation and robot arm manipulation. However, in large search spaces in which local traps may exist, it remains challenging to…
Rapidly-exploring Random Tree (RRT) algorithms have been applied successfully to challenging robot motion planning and under-actuated nonlinear control problems. However a fundamental limitation of the RRT approach is the slow convergence…
Algebraic data structures are the main subroutine for maintaining distances in fully dynamic graphs in subquadratic time. However, these dynamic algebraic algorithms generally cannot maintain the shortest paths, especially against adaptive…
This paper explores the Navigation Among Movable Obstacles (NAMO) problem and proposes joint path and push planning: which path to take and in what direction the obstacles should be pushed at, given a start and goal position. We present a…
Coverage path planning is a fundamental challenge in robotics, with diverse applications in aerial surveillance, manufacturing, cleaning, inspection, agriculture, and more. The main objective is to devise a trajectory for an agent that…
This paper proposes a solution to the problem of smooth path planning for mobile robots in dynamic and unknown environments. A novel concept of Time-Warped Grid is introduced to predict the pose of obstacles in the environment and avoid…
Paths generated by A* and other graph-search-based planners are widely used in the robotic field. Due to the restricted node-expansion directions, the resulting paths are usually not the shortest. Besides, unnecessary heading changes, or…