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The well-established modular autonomous driving system is decoupled into different standalone tasks, e.g. perception, prediction and planning, suffering from information loss and error accumulation across modules. In contrast, end-to-end…
Multi-Agent Path Finding (MAPF) is the problem of finding a set of collision-free paths, one for each agent in a shared environment. Its objective is to minimize the sum of path costs (SOC), where the path cost of each agent is defined as…
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…
Formation flight has a vast potential for aerial robot swarms in various applications. However, existing methods lack the capability to achieve fully autonomous large-scale formation flight in dense environments. To bridge the gap, we…
Existing trajectory planning methods are struggling to handle the issue of autonomous track swinging during navigation, resulting in significant errors when reaching the destination. In this article, we address autonomous trajectory…
Multi-Agent Path Finding (MAPF) is an important optimization problem underlying the deployment of robots in automated warehouses and factories. Despite the large body of work on this topic, most approaches make heavy simplifications, both…
Accurate perception, state estimation and mapping are essential for safe robotic navigation as planners and controllers rely on these components for safety-critical decisions. However, existing mapping approaches often assume perfect pose…
Many methods in learning from demonstration assume that the demonstrator has knowledge of the full environment. However, in many scenarios, a demonstrator only sees part of the environment and they continuously replan as they gather…
We propose an algorithm to (i) learn online a deep signed distance function (SDF) with a LiDAR-equipped robot to represent the 3D environment geometry, and (ii) plan collision-free trajectories given this deep learned map. Our algorithm…
The problem of navigating a formation of interconnected tethered drones, named STEM (System of TEthered Multicopters), in an unknown environment is considered. The tethers feed electrical power from a ground station to the drones and also…
An important open problem in robotic planning is the autonomous generation of 3D inspection paths -- that is, planning the best path to move a robot along in order to inspect a target structure. We recently suggested a new method for…
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…
Collision avoidance is key for mobile robots and agents to operate safely in the real world. In this work we present SAFER, an efficient and effective collision avoidance system that is able to improve safety by correcting the control…
Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…
We present Scalable Multi-Agent Realistic Testbed (SMART), a realistic and efficient software tool for evaluating Multi-Agent Path Finding (MAPF) algorithms. MAPF focuses on planning collision-free paths for a group of robots. While…
In this paper we study the following multi-robot coordination problem: given a graph, where each edge is weighted by the probability of surviving while traversing it, find a set of paths for $K$ robots that maximizes the expected number of…
Autonomous terrain traversal of articulated tracked robots can reduce operator cognitive load to enhance task efficiency and facilitate extensive deployment. We present a novel hybrid trajectory optimization method aimed at generating…
This paper focuses on the motion planning for mobile robots in 3D, which are modelled by 6-DOF rigid body systems with nonholonomic kinematics constraints. We not only specify the target position, but also bring in the requirement of the…
We consider a problem called task ordering with path uncertainty (TOP-U) where multiple robots are provided with a set of task locations to visit in a bounded environment, but the length of the path between a pair of task locations is…
In the project, the vehicle was first controlled with ROS. For this purpose, the necessary nodes were prepared to be controlled with a joystick. Afterwards, DWA(Dynamic Window Approach), TEB(Timed-Elastic Band) and APF(Artificial Potential…