Related papers: Modified RRT* for Path Planning in Autonomous Driv…
This paper presents a novel data-driven approach to vehicle motion planning and control in off-road driving scenarios. For autonomous off-road driving, environmental conditions impact terrain traversability as a function of weather, surface…
The problem of mixed static and dynamic obstacle avoidance is essential for path planning in highly dynamic environment. However, the paths formed by grid edges can be longer than the true shortest paths in the terrain since their headings…
This paper explores the Navigation Among Movable Obstacles (NAMO) problem and proposes joint path and push planning: which path to take and in what direction the obstacles should be pushed at, given a start and goal position. We present a…
Autonomous exploration is a new technology in the field of robotics that has found widespread application due to its objective to help robots independently localize, scan maps, and navigate any terrain without human control. Up to present,…
Real-time path planning in constrained environments remains a fundamental challenge for autonomous systems. Traditional classical planners, while effective under perfect perception assumptions, are often sensitive to real-world perception…
Latest research in industrial robotics is aimed at making human robot collaboration possible seamlessly. For this purpose, industrial robots are expected to work on the fly in unstructured and cluttered environments and hence the subject of…
Planning safe trajectories under uncertain and dynamic conditions makes the autonomous driving problem significantly complex. Current sampling-based methods such as Rapidly Exploring Random Trees (RRTs) are not ideal for this problem…
Planning collision-free paths for multi-robot systems (MRS) is a challenging problem because of the safety and efficiency constraints required for real-world solutions. Even though coupled path planning approaches provide optimal…
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…
In cooperative pathfinding problems, no-conflicts paths that bring several agents from their start location to their destination need to be planned. This problem can be efficiently solved by Multi-agent RRT*(MA-RRT*) algorithm, which is…
Robots operating in changing environments either predict obstacle changes and/or plan quickly enough to react to them. Predictive approaches require a strong prior about the position and motion of obstacles. Reactive approaches require no…
Researchers are exploring Augmented Reality (AR) interfaces for online robot programming to streamline automation and user interaction in variable manufacturing environments. This study introduces an AR interface for online programming and…
Path planning is one of the most vital elements of mobile robotics. With a priori knowledge of the environment, global path planning provides a collision-free route through the workspace. The global path plan can be calculated with a…
This paper proposes a 2-D autonomous exploration and mapping framework for LiDAR-based SLAM mobile robots, designed to address the major challenges on low-cost platforms, including process instability, map drift, and increased risks of…
Motion trajectory planning is one crucial aspect for automated vehicles, as it governs the own future behavior in a dynamically changing environment. A good utilization of a vehicle's characteristics requires the consideration of the…
Autonomous Underwater Vehicle-Manipulator systems (AUVMS) is a new tool for ocean exploration, the AUVMS path planning problem is addressed in this paper. AUVMS is a high dimension system with a large difference in inertia distribution,…
Path Planning methods for autonomously controlling swarms of unmanned aerial vehicles (UAVs) are gaining momentum due to their operational advantages. An increasing number of scenarios now require autonomous control of multiple UAVs, as…
As terrestrial resources become increasingly depleted, the demand for deep-sea resource exploration has intensified. However, the extreme conditions in the deep-sea environment pose significant challenges for underwater operations,…
Avoiding collisions is one of the vital tasks for systems of autonomous mobile agents. We focus on the problem of finding continuous coordinated paths for multiple mobile disc agents in a 2-d environment with polygonal obstacles. The…
Robot motion planning is central to real-world autonomous applications, such as self-driving cars, persistence surveillance, and robotic arm manipulation. One challenge in motion planning is generating control signals for nonlinear systems…