Related papers: Safe and Efficient Trajectory Optimization for Aut…
Recently, many methods have been proposed for face reconstruction from multiple images, most of which involve fundamental principles of Shape from Shading and Structure from motion. However, a majority of the methods just generate discrete…
Current motion planning approaches for autonomous mobile robots often assume that the low level controller of the system is able to track the planned motion with very high accuracy. In practice, however, tracking error can be affected by…
State estimation and control are often addressed separately, leading to unsafe execution due to sensing noise, execution errors, and discrepancies between the planning model and reality. Simultaneous control and trajectory estimation using…
Visual-inertial systems have been widely studied and applied in the last two decades (from the early 2000s to the present), mainly due to their low cost and power consumption, small footprint, and high availability. Such a trend…
This paper addresses the problem of motion planning for differential drive micro-mobility platforms. This class of vehicle is designed to perform small-distance transportation of passengers and goods in structured environments. Our approach…
Existing trajectory planning methods are struggling to handle the issue of autonomous track swinging during navigation, resulting in significant errors when reaching the destination. In this article, we address autonomous trajectory…
Velocity Planning for self-driving vehicles in a complex environment is one of the most challenging tasks. It must satisfy the following three requirements: safety with regards to collisions; respect of the maximum velocity limits defined…
Autonomous marine vessels are expected to avoid inter-vessel collisions and comply with the international regulations for safe voyages. This paper presents a stepwise path planning method using stream functions. The dynamic flow of fluids…
Ensuring safety in autonomous vehicles necessitates advanced path planning and obstacle avoidance capabilities, particularly in dynamic environments. This paper introduces a bi-level control framework that efficiently augments road…
This work presents an efficient method to solve a class of continuous-time, continuous-space stochastic optimal control problems of robot motion in a cluttered environment. The method builds upon a path integral representation of the…
We propose factor graph optimization for simultaneous planning, control, and trajectory estimation for collision-free navigation of autonomous systems in environments with moving objects. The proposed online probabilistic motion planning…
This paper presents a method for planning optimal trajectories with a team of Unmanned Aerial Vehicles (UAVs) performing autonomous cinematography. The method is able to plan trajectories online and in a distributed manner, providing…
We propose an output feedback control-based motion planning technique for agents to enable them to converge to a specified polynomial trajectory while imposing a set of safety constraints on our controller to avoid collisions within the…
Autonomous driving has been an active area of research and development, with various strategies being explored for decision-making in autonomous vehicles. Rule-based systems, decision trees, Markov decision processes, and Bayesian networks…
Lane change for autonomous vehicles (AVs) is an important but challenging task in complex dynamic traffic environments. Due to difficulties in guarantee safety as well as a high efficiency, AVs are inclined to choose relatively conservative…
Autonomous driving vehicles aim to free the hands of vehicle operators, helping them to drive easier and faster, meanwhile, improving the safety of driving on the highway or in complex scenarios. Automated driving systems (ADS) are…
The unmanned aerial vehicles (UAVs) are efficient tools for diverse tasks such as electronic reconnaissance, agricultural operations and disaster relief. In the complex three-dimensional (3D) environments, the path planning with obstacle…
Spinal curvature estimation is important to the diagnosis and treatment of the scoliosis. Existing methods face several issues such as the need of expensive annotations on the vertebral landmarks and being sensitive to the image quality. It…
Path planning for autonomous vehicles in arbitrary environments requires a guarantee of safety, but this can be impractical to ensure in real-time when the vehicle is described with a high-fidelity model. To address this problem, this paper…
Autonomous driving in off-road environments presents significant challenges due to the dynamic and unpredictable nature of unstructured terrain. Traditional kinodynamic models often struggle to generalize across diverse geometric and…