Related papers: An Efficient Trajectory Planner for Car-like Robot…

Robot motion planning involves computing a sequence of valid robot configurations that take the robot from its initial state to a goal state. Solving a motion planning problem optimally using analytical methods is proven to be PSPACE-Hard.…

In this paper, we present a fast, on-line mapping and planning solution for operation in unknown, off-road, environments. We combine obstacle detection along with a terrain gradient map to make simple and adaptable cost map. This map can be…

Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…

Estimating terrain traversability in off-road environments requires reasoning about complex interaction dynamics between the robot and these terrains. However, it is challenging to create informative labels to learn a model in a supervised…

Locomotion mechanics of legged robots are suitable when pacing through difficult terrains. Recognising terrains for such robots are important to fully yoke the versatility of their movements. Consequently, robotic terrain classification…

This paper introduces a new method for robot motion planning and navigation in uneven environments through a surfel representation of underlying point clouds. The proposed method addresses the shortcomings of state-of-the-art navigation…

Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…

Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance, and planning of the underactuated dynamics of the system. Reliably optimizing for such motions and interactions in the presence of imperfect and…

Recent advancements in self-driving car technologies have enabled them to navigate autonomously through various environments. However, one of the critical challenges in autonomous vehicle operation is trajectory planning, especially in…

This paper presents a novel data-driven approach to vehicle motion planning and control in off-road driving scenarios. For autonomous off-road driving, environmental conditions impact terrain traversability as a function of weather, surface…

Till now, many path planning algorithms have been proposed in the literature. The objective of these algorithms is to find the quickest path between initial position to the end position in a certain environment. The complexity of these…

With the increasing integration of robots into human life, their role in architectural spaces where people spend most of their time has become more prominent. While motion capabilities and accurate localization for automated robots have…

Driving on the limits of vehicle dynamics requires predictive planning of future vehicle states. In this work, a search-based motion planning is used to generate suitable reference trajectories of dynamic vehicle states with the goal to…

Motion planners for mobile robots in unknown environments face the challenge of simultaneously maintaining both robustness against unmodeled uncertainties and persistent feasibility of the trajectory-finding problem. That is, while dealing…

Terrain geometry is, in general, non-smooth, non-linear, non-convex, and, if perceived through a robot-centric visual unit, appears partially occluded and noisy. This work presents the complete control pipeline capable of handling the…

Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…

Motion trajectory planning is one crucial aspect for automated vehicles, as it governs the own future behavior in a dynamically changing environment. A good utilization of a vehicle's characteristics requires the consideration of the…

Navigating an arbitrary-shaped ground robot safely in cluttered environments remains a challenging problem. The existing trajectory planners that account for the robot's physical geometry severely suffer from the intractable runtime. To…

An efficient path planner for autonomous car-like vehicles should handle the strong kinematic constraints, particularly in confined spaces commonly encountered while maneuvering in city traffic, and should enable rapid planning, as the city…

Collapsing terrains, often present in search and rescue missions or planetary exploration, pose significant challenges for quadruped robots. This paper introduces a robust locomotion framework for safe navigation over unstable surfaces by…