Related papers: QTOS: An Open-Source Quadruped Trajectory Optimiza…
Traditional control interfaces for quadruped robots often impose a high barrier to entry, requiring specialized technical knowledge for effective operation. To address this, this paper presents a novel control framework that integrates…
Agile quadrotor flight pushes the limits of control, actuation, and onboard perception. While time-optimal trajectory planning has been extensively studied, existing approaches typically neglect the tight coupling between vehicle dynamics,…
This paper explores a rapid, optimal smooth path-planning algorithm for robots (e.g., autonomous vehicles) in point cloud environments. Derivative maps such as dense point clouds, mesh maps, Octomaps, etc. are frequently used for path…
Ensuring the functional safety of Autonomous Vehicles (AVs) requires motion planning modules that not only operate within strict real-time constraints but also maintain controllability in case of system faults. Existing safeguarding…
Trajectory replanning for quadrotors is essential to enable fully autonomous flight in unknown environments. Hierarchical motion planning frameworks, which combine path planning with path parameterization, are popular due to their time…
We argue that it is beneficial to tightly couple the widely-used Robot Operating System with Conda, a cross-platform, language-agnostic package manager, and Jupyter, a web-based interactive computational environment affording scientific…
Autonomous, agile quadrotor flight raises fundamental challenges for robotics research in terms of perception, planning, learning, and control. A versatile and standardized platform is needed to accelerate research and let practitioners…
Quadrotors are among the most agile flying robots. However, planning time-optimal trajectories at the actuation limit through multiple waypoints remains an open problem. This is crucial for applications such as inspection, delivery, search…
Motion planning is a key aspect of robotics. A common approach to address motion planning problems is trajectory optimization. Trajectory optimization can represent the high-level behaviors of robots through mathematical formulations.…
Fast and safe navigation of dynamical systems through a priori unknown cluttered environments is vital to many applications of autonomous systems. However, trajectory planning for autonomous systems is computationally intensive, often…
Gradient-based trajectory optimization (GTO) has gained wide popularity for quadrotor trajectory replanning. However, it suffers from local minima, which is not only fatal to safety but also unfavorable for smooth navigation. In this paper,…
Multi-objective or multi-destination path planning is crucial for mobile robotics applications such as mobility as a service, robotics inspection, and electric vehicle charging for long trips. This work proposes an anytime iterative system…
We present Atos, a task-parallel GPU dynamic scheduling framework that is especially suited to dynamic irregular applications. Compared to the dominant Bulk Synchronous Parallel (BSP) frameworks, Atos exposes additional concurrency by…
Optimization has been widely used to generate smooth trajectories for motion planning. However, existing trajectory optimization methods show weakness when dealing with large-scale long trajectories. Recent advances in parallel computing…
Many aerial tasks involving quadrotors demand both instant reactivity and long-horizon planning. High-fidelity models enable accurate control but are too slow for long horizons; low-fidelity planners scale but degrade closed-loop…
The ROS navigation stack is powerful for mobile robots to move from place to place reliably. The job of navigation stack is to produce a safe path for the robot to execute, by processing data from odometry, sensors and environment map.…
We present an optimization-based framework for multicopter trajectory planning subject to geometrical configuration constraints and user-defined dynamic constraints. The basis of the framework is a novel trajectory representation built upon…
Global path planning is the key technology in the design of unmanned surface vehicles. This paper establishes global environment modelling based on electronic charts and hexagonal grids which are proved to be better than square grids in…
Multi-vehicle trajectory planning (MVTP) is one of the key challenges in multi-robot systems (MRSs) and has broad applications across various fields. This paper presents ESCoT, an enhanced step-based coordinate trajectory planning method…
Platooning represents an advanced driving technology designed to assist drivers in traffic convoys of varying lengths, enhancing road safety, reducing driver fatigue, and improving fuel efficiency. Sophisticated automated driving assistance…