Related papers: Intention-Aware Planner for Robust and Safe Aerial…
Many modern robotics applications require robots to function autonomously in dynamic environments including other decision making agents, such as people or other robots. This calls for fast and scalable interactive motion planning. This…
In mobile robot shared control, effectively understanding human motion intention is critical for seamless human-robot collaboration. This paper presents a novel shared control framework featuring planning-level intention prediction. A path…
Rapidly generating an optimal chasing motion of a drone to follow a dynamic target among obstacles is challenging due to numerical issues rising from multiple conflicting objectives and non-convex constraints. This study proposes to resolve…
Future spacecraft operations require autonomy that can interpret high-level mission intent while preserving safety. However, existing trajectory optimization still relies heavily on expert-crafted formulations and does not support…
The quadrotor is popularly used in challenging environments due to its superior agility and flexibility. In these scenarios, trajectory planning plays a vital role in generating safe motions to avoid obstacles while ensuring flight…
In recent years, several progressive works promote the development of aerial tracking. One of the representative works is our previous work Fast-tracker which is applicable to various challenging tracking scenarios. However, it suffers from…
Maintaining the visibility of the target is one of the major objectives of aerial tracking missions. This paper proposes a target-visible trajectory planning pipeline using quadratic programming. Our approach can handle various tracking…
Mobile robot platforms are increasingly being used to automate information gathering tasks such as environmental monitoring. Efficient target tracking in dynamic environments is critical for applications such as search and rescue and…
This paper proposes an intent-aware multi-agent planning framework as well as a learning algorithm. Under this framework, an agent plans in the goal space to maximize the expected utility. The planning process takes the belief of other…
The role of a motion planner is pivotal in quadrotor applications, yet existing methods often struggle to adapt to complex environments, limiting their ability to achieve fast, safe, and robust flight. In this letter, we introduce a…
In this paper, we propose a complete and robust motion planning system for the aggressive flight of autonomous quadrotors. The proposed method is built upon on a classical teach-and-repeat framework, which is widely adopted in…
Drones have become essential in various applications, but conventional quadrotors face limitations in confined spaces and complex tasks. Deformable drones, which can adapt their shape in real-time, offer a promising solution to overcome…
The goal of this paper is to develop a continuous optimization-based refinement of the reference trajectory to 'push it out' of the obstacle-occupied space in the global phase for Multi-rotor Aerial Vehicles in unknown environments. Our…
Within this work, we explore intention inference for user actions in the context of a handheld robot setup. Handheld robots share the shape and properties of handheld tools while being able to process task information and aid manipulation.…
Predicting multimodal future behavior of traffic participants is essential for robotic vehicles to make safe decisions. Existing works explore to directly predict future trajectories based on latent features or utilize dense goal candidates…
This letter presents a versatile trajectory planning pipeline for aerial tracking. The proposed tracker is capable of handling various chasing settings such as complex unstructured environments, crowded dynamic obstacles and multiple-target…
Predicting driver intentions is a difficult and crucial task for advanced driver assistance systems. Traditional confidence measures on predictions often ignore the way predicted trajectories affect downstream decisions for safe driving. In…
With the substantial growth of logistics businesses the need for larger and more automated warehouses increases, thus giving rise to fully robotized shop-floors with mobile robots in charge of transporting and distributing goods. However,…
Agile quadrotor flight relies on rapidly planning and accurately tracking time-optimal trajectories, a technology critical to their application in the wild. However, the computational burden of computing time-optimal trajectories based on…
Motion planning is a critical component of intelligent unmanned systems, enabling their complex autonomous operations. However, current planning algorithms still face limitations in planning efficiency due to inflexible strategies and weak…