Related papers: Online Obstacle evasion with Space-Filling Curves
We present a centralized algorithm for labeled, disk-shaped Multi-Robot Path Planning (MPP) in a continuous planar workspace with polygonal boundaries. Our method automatically transform the continuous problem into a discrete, graph-based…
Control Barrier Functions (CBF) are widely used to enforce the safety-critical constraints on nonlinear systems. Recently, these functions are being incorporated into a path planning framework to design safety-critical path planners.…
Exploration requires that robots reason about numerous ways to cover a space in response to dynamically changing conditions. However, in continuous domains there are potentially infinitely many options for robots to explore which can prove…
An emerging class of trajectory optimization methods enforces collision avoidance by jointly optimizing the robot's configuration and a separating hyperplane. However, as linear separators only apply to convex sets, these methods require…
Decentralized control of robots has attracted huge research interests. However, some of the research used unrealistic assumptions without collision avoidance. This report focuses on the collision-free control for multiple robots in both…
Navigating robots safely and efficiently in crowded and complex environments remains a significant challenge. However, due to the dynamic and intricate nature of these settings, planning efficient and collision-free paths for robots to…
This paper proposes a novel mission planning algorithm for autonomous robots that selects an optimal waypoint sequence from a predefined set to maximize total reward while satisfying obstacle avoidance, state, input, derivative, mission…
In robotic planetary surface exploration, strategic mobility planning is an important task that involves finding candidate long-distance routes on orbital maps and identifying segments with uncertain traversability. Then, expert human…
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…
A mobile robot represented by a point moving in the plane has to explore an unknown terrain with obstacles. Both the terrain and the obstacles are modeled as arbitrary polygons. We consider two scenarios: the unlimited vision, when the…
Autonomous navigation in unknown environments is a fundamental challenge in robotics, particularly in coordinating ground and aerial robots to maximize exploration efficiency. This paper presents a novel approach that utilizes a…
This paper introduces a segmented approach for solving constrained orbit transfer problems. The segments are connected through continuity constraints under the Theory of Functional Connections (TFC) mathematical framework that performs…
This paper presents a guidance algorithm for solving the problem of following parametric paths, as well as a curvature-varying speed setpoint for land-based car-type wheeled mobile robots (WMRs). The guidance algorithm relies on…
This paper presents a state-of-the-art filter that reduces the complexity in object detection, tracking and mapping applications. Existing edge detection and tracking methods are proposed to create suitable autonomy for mobile robots,…
This study proposes a novel multi-objective integer programming model for a collision-free discrete drone path planning problem. Considering the possibility of bypassing obstacles or flying above them, this study aims to minimize the path…
Taking photographs ''in-the-wild'' is often hindered by fence obstructions that stand between the camera user and the scene of interest, and which are hard or impossible to avoid. De-fencing is the algorithmic process of automatically…
Safe path planning is critical for bipedal robots to operate in safety-critical environments. Common path planning algorithms, such as RRT or RRT*, typically use geometric or kinematic collision check algorithms to ensure collision-free…
Robots will increasingly operate near humans that introduce uncertainties in the motion planning problem due to their complex nature. Typically, chance constraints are introduced in the planner to optimize performance while guaranteeing…
We study the problem of online graph exploration on undirected graphs, where a searcher has to visit every vertex and return to the origin. Once a new vertex is visited, the searcher learns of all neighboring vertices and the connecting…
The security issue of mobile robots has attracted considerable attention in recent years. In this paper, we propose an intelligent physical attack to trap mobile robots into a preset position by learning the obstacle-avoidance mechanism…