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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…
A key challenge in fast ground robot navigation in 3D terrain is balancing robot speed and safety. Recent work has shown that 2.5D maps (2D representations with additional 3D information) are ideal for real-time safe and fast planning.…
Robot Coverage Path planning (i.e., provide full coverage of a given domain by one or multiple robots) is a classical problem in the field of robotics and motion planning. The goal is to provide nearly full coverage while also minimize…
Consider a general path planning problem of a robot on a graph with edge costs, and where each node has a Boolean value of success or failure (with respect to some task) with a given probability. The objective is to plan a path for the…
A novel multi-robot path planning approach is presented in this paper. Based on the standard Dijkstra, the algorithm looks for the optimal paths for a formation of robots, taking into account the possibility of split and merge. The…
Efficient mobility and power consumption are critical for autonomous water surface robots in long-term water environmental monitoring. This study develops and evaluates a transformable mobility mechanism for a water surface robot with two…
Today, low-altitude fixed-wing Unmanned Aerial Vehicles (UAVs) are largely limited to primitively follow user-defined waypoints. To allow fully-autonomous remote missions in complex environments, real-time environment-aware navigation is…
Quadrotors are among the most agile flying robots. However, planning time-optimal trajectories at the actuation limit through multiple waypoints remains an open problem. This is crucial for applications such as inspection, delivery, search…
Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for…
This paper presents a novel algorithm to plan energy-efficient trajectories for autonomous ornithopters. In general, trajectory optimization is quite a relevant problem for practical applications with \emph{Unmanned Aerial Vehicles} (UAVs).…
In this paper, we propose a 3D path planning method that integrates the A* algorithm with the octree structure. Unmanned Ground Vehicles (UGVs) and legged robots have been extensively studied, enabling locomotion across a variety of…
Path Planning methods for autonomously controlling swarms of unmanned aerial vehicles (UAVs) are gaining momentum due to their operational advantages. An increasing number of scenarios now require autonomous control of multiple UAVs, as…
We propose an online motion planner for legged robot locomotion with the primary objective of achieving energy efficiency. The conceptual idea is to leverage a placement set of footstep positions based on the robot's body position to…
Ground robots navigating in complex, dynamic environments must compute collision-free trajectories to avoid obstacles safely and efficiently. Nonconvex optimization is a popular method to compute a trajectory in real-time. However, these…
Intelligent interaction with the real world requires robotic agents to jointly reason over high-level plans and low-level controls. Task and motion planning (TAMP) addresses this by combining symbolic planning and continuous trajectory…
Unmanned Aerial Vehicles (UAVs) represent a new frontier in a wide range of monitoring and research applications. To fully leverage their potential, a key challenge is planning missions for efficient data acquisition in complex…
An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…
This article introduces a multimodal motion planning (MMP) algorithm that combines three-dimensional (3-D) path planning and a DWA obstacle avoidance algorithm. The algorithms aim to plan the path and motion of obstacle-overcoming robots in…
The main aim of this paper is to solve a path planning problem for an autonomous mobile robot in static and dynamic environments. The problem is solved by determining the collision-free path that satisfies the chosen criteria for shortest…
Constrained motion planning is a common but challenging problem in robotic manipulation. In recent years, data-driven constrained motion planning algorithms have shown impressive planning speed and success rate. Among them, the latent…