Related papers: Collision Detection for Multi-Robot Motion Plannin…
Motion planning against sensor data is often a critical bottleneck in real-time robot control. For sampling-based motion planners, which are effective for high-dimensional systems such as manipulators, the most time-intensive component is…
Robots have become increasingly prevalent in dynamic and crowded environments such as airports and shopping malls. In these scenarios, the critical challenges for robot navigation are reliability and timely arrival at predetermined…
In order to solve the problem of frequent deceleration of unmanned vehicles when approaching obstacles, this article uses a Deep Q-Network (DQN) and its extension, the Double Deep Q-Network (DDQN), to develop a local navigation system that…
Probabilistic collision detection (PCD) is essential in motion planning for robots operating in unstructured environments, where considering sensing uncertainty helps prevent damage. Existing PCD methods mainly used simplified geometric…
This paper presents a novel algorithm, called MRRT, which uses multiple rapidly-exploring random trees for fast online replanning of autonomous vehicles in dynamic environments with moving obstacles. The proposed algorithm is built upon the…
The dynamic trees problem is to maintain a tree under edge updates while supporting queries like connectivity queries or path queries. Despite the first data structure for this fundamental problem -- the link-cut tree -- being invented 40…
Multi-robot path planning is a computational process involving finding paths for each robot from its start to the goal while ensuring collision-free operation. It is widely used in robots and autonomous driving. However, the computational…
This paper integrates cooperative localization with continuum deformation coordination of a multi-quadcopter system {(MQS) to assure safety and optimality of the quadcopter team coordination in the presence of position uncertainty. We first…
Coordinated multi-robot motion planning at intersections is key for safe mobility in roads, factories and warehouses. The rapidly exploring random tree (RRT) algorithms are popular in multi-robot motion planning. However, generating the…
Building concurrent spatial trees is more complicated than binary search trees since a space hierarchy should be preserved during modifications. We present a non-blocking quadtree-quadboost-that supports concurrent insert, remove, move, and…
Collision detection algorithms are used in aerospace, swarm robotics, automotive, video gaming, dynamics simulation and other domains. As many applications of collision detection run online, timing requirements are imposed on the algorithm…
We present a neural network collision checking heuristic, ClearanceNet, and a planning algorithm, CN-RRT. ClearanceNet learns to predict separation distance (minimum distance between robot and workspace) with respect to a workspace. CN-RRT…
Ensuring safe and efficient operation of collaborative robots in human environments is challenging, especially in dynamic settings where both obstacle motion and tasks change over time. Current robot controllers typically assume full…
The article develops an impact-resilient aerial robot (s-ARQ) equipped with a compliant arm to sense contacts and reduce collision impact and featuring a real-time contact force estimator and a non-linear motion controller to handle…
This paper proposes an efficient data structure, ikd-Tree, for dynamic space partition. The ikd-Tree incrementally updates a k-d tree with new coming points only, leading to much lower computation time than existing static k-d trees.…
This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…
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 addresses the fast replanning problem in dynamic environments with moving obstacles. Since for randomly moving obstacles the future states are unpredictable, the proposed method, called SMARRT, reacts to obstacle motions and…
Motion Planning is necessary for robots to complete different tasks. Rapidly-exploring Random Tree (RRT) and its variants have been widely used in robot motion planning due to their fast search in state space. However, they perform not well…
This paper presents a continuum mechanics-based approach for real-time deployment (RTD) of a multi-quadcopter system between moving initial and final configurations arbitrarily distributed in a 3-D motion space. The proposed RTD problem is…