Related papers: MTG: Mapless Trajectory Generator with Traversabil…
A novel decentralised trajectory generation algorithm for Multi Agent systems is presented. Multi-robot systems have the capacity to transform lives in a variety of fields. But, trajectory generation for multi-robot systems is still in its…
Applying intelligent robot arms in dynamic uncertain environments (i.e., flexible production lines) remains challenging, which requires efficient algorithms for real time trajectory generation. The motion planning problem for robot…
Sampling-based model predictive control (MPC) optimization methods, such as Model Predictive Path Integral (MPPI), have recently shown promising results in various robotic tasks. However, it might produce an infeasible trajectory when the…
Algorithms for motion planning in unknown environments are generally limited in their ability to reason about the structure of the unobserved environment. As such, current methods generally navigate unknown environments by relying on…
Precise modeling of microscopic vehicle trajectories is critical for traffic behavior analysis and autonomous driving systems. We propose Ctx2TrajGen, a context-aware trajectory generation framework that synthesizes realistic urban driving…
Navigation in complex 3D scenarios requires appropriate environment representation for efficient scene understanding and trajectory generation. We propose a highly efficient and extensible global navigation framework based on a tomographic…
In recent years, various state of the art autonomous vehicle systems and architectures have been introduced. These methods include planners that depend on high-definition (HD) maps and models that learn an autonomous agent's controls in an…
This paper introduces an end-to-end trajectory planning algorithm tailored for multi-UAV systems that generates collision-free trajectories in environments populated with both static and dynamic obstacles, leveraging point cloud data. Our…
We present a self-supervised approach for learning to predict traversable paths for wheeled mobile robots that require good traction to navigate. Our algorithm, termed WayFAST (Waypoint Free Autonomous Systems for Traversability), uses RGB…
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…
In this article, we address aquatic environmental monitoring using a fleet of unmanned surface vehicles (USVs). Specifically, we develop an online path generator that provides either circular or elliptic paths based on the real-time…
Navigation is an essential capability for mobile robots. In this paper, we propose a generalized yet effective 3M (i.e., multi-robot, multi-scenario, and multi-stage) training framework. We optimize a mapless navigation policy with a robust…
State-of-the-art autonomous driving systems rely on high definition (HD) maps for localization and navigation. However, building and maintaining HD maps is time-consuming and expensive. Furthermore, the HD maps assume structured environment…
This paper presents a trajectory generation method for contact-constrained robotic systems such as manipulators and legged robots. Contact-constrained systems are affected by the interaction forces between the robot and the environment. In…
Path planning for a robotic system in high-dimensional cluttered environments needs to be efficient, safe, and adaptable for different environments and hardware. Conventional methods face high computation time and require extensive…
The advancement of robotics and autonomous navigation systems hinges on the ability to accurately predict terrain traversability. Traditional methods for generating datasets to train these prediction models often involve putting robots into…
Robot navigation traditionally relies on building an explicit map that is used to plan collision-free trajectories to a desired target. In deformable, complex terrain, using geometric-based approaches can fail to find a path due to…
Mobile robot navigation is typically regarded as a geometric problem, in which the robot's objective is to perceive the geometry of the environment in order to plan collision-free paths towards a desired goal. However, a purely geometric…
Path planning plays an important role in autonomous robot systems. Effective understanding of the surrounding environment and efficient generation of optimal collision-free path are both critical parts for solving path planning problem.…
In this paper, we present an online motion planning algorithm (3D-OGSE) for generating smooth, collision-free trajectories over multiple planning iterations for 3-D agents operating in an unknown obstacle-cluttered 3-D environment. Our…