Related papers: TOPPQuad: Dynamically-Feasible Time Optimal Path P…
Simplified models are useful to increase the computational efficiency of a motion planning algorithm, but their lack of accuracy have to be managed. We propose two feasibility constraints to be included in a Single Rigid Body Dynamicsbased…
This paper presents a two-step algorithm for online trajectory planning in indoor environments with unknown obstacles. In the first step, sampling-based path planning techniques such as the optimal Rapidly exploring Random Tree (RRT*)…
Performing trajectory design for humanoid robots with high degrees of freedom is computationally challenging. The trajectory design process also often involves carefully selecting various hyperparameters and requires a good initial guess…
In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…
Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant…
The paper presents a movement strategy for Connected and Automated Vehicles (CAVs) in a lane-free traffic environment with vehicle nudging by use of an optimal control approach. State-dependent constraints on control inputs are considered…
Trajectory Planning is a crucial word in Modern & Advanced Robotics. It's a way of generating a smooth and feasible path for the robot to follow over time. The process primarily takes several factors to generate the path, such as velocity,…
Safety-guaranteed motion planning is critical for self-driving cars to generate collision-free trajectories. A layered motion planning approach with decoupled path and speed planning is widely used for this purpose. This approach is prone…
The tractor-trailer robot consists of a drivable tractor and one or more non-drivable trailers connected via hitches. Compared to typical car-like robots, the addition of trailers provides greater transportation capability. However, this…
This paper presents an optimal motion planning framework to generate versatile energy-optimal quadrupedal jumping motions automatically (e.g., flips, spin). The jumping motions via the centroidal dynamics are formulated as a 12-dimensional…
Safe corridor-based Trajectory Optimization (TO) presents an appealing approach for collision-free path planning of autonomous robots, offering global optimality through its convex formulation. The safe corridor is constructed based on the…
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…
Mixed-Integer Quadratic Programming (MIQP) has been identified as a suitable approach for finding an optimal solution to the behavior planning problem with low runtimes. Logical constraints and continuous equations are optimized alongside.…
In this work, we present a workspace-based planning framework, which though using redundant workspace key-points to represent robot states, can take advantage of the interpretable geometric information to derive good quality collision-free…
In this paper, we look into the minimum obstacle displacement (MOD) planning problem from a mobile robot motion planning perspective. This problem finds an optimal path to goal by displacing movable obstacles when no path exists due to…
An effective method for optimizing path planning for a specific model of a 6-degree-of-freedom (6-DOF) robot manipulator is presented as part of the motion planning of the manipulator using computer algebra. We assume that we are given a…
Real-world environments are inherently uncertain, and to operate safely in these environments robots must be able to plan around this uncertainty. In the context of motion planning, we desire systems that can maintain an acceptable level of…
Time-optimal motion planning of autonomous vehicles in complex environments is a highly researched topic. This paper describes a novel approach to optimize and execute locally feasible trajectories for the maneuvering of a truck-trailer…
In this paper, we propose an alternating optimization method to address a time-optimal trajectory generation problem. Different from the existing solutions, our approach introduces a new formulation that minimizes the overall trajectory…
This paper focuses on spatial time-optimal motion planning, a generalization of the exact time-optimal path following problem that allows the system to plan within a predefined space. In contrast to state-of-the-art methods, we drop the…