Related papers: Towards Contact-Aided Motion Planning for Tendon-D…
Safe autonomous navigation in a priori unknown environments is an essential skill for mobile robots to reliably and adaptively perform diverse tasks (e.g., delivery, inspection, and interaction) in unstructured cluttered environments.…
This paper presents a search-based partial motion planner to generate dynamically feasible trajectories for car-like robots in highly dynamic environments. The planner searches for smooth, safe, and near-time-optimal trajectories by…
With a slender redundant body, the tendon-driven robot (TDR) has a large workspace and great maneuverability while working in complex environments. TDR comprises multiple independently controlled robot segments, each with a set of driving…
Current motion planning approaches rely on binary collision checking to evaluate the validity of a state and thereby dictate where the robot is allowed to move. This approach leaves little room for robots to engage in contact with an…
Path planning in the presence of dynamic obstacles is a challenging problem due to the added time dimension in search space. In approaches that ignore the time dimension and treat dynamic obstacles as static, frequent re-planning is…
Approaching a tumbling target safely is a critical challenge in space debris removal missions utilizing robotic manipulators onboard servicing satellites. In this work, we propose a trajectory planning method based on nonlinear optimization…
Quadrotors with the ability to perch on moving inclined surfaces can save energy and extend their travel distance by leveraging ground vehicles. Achieving dynamic perching places high demands on the performance of trajectory planning and…
Despite recent progress on trajectory planning of multiple robots and path planning of a single tethered robot, planning of multiple tethered robots to reach their individual targets without entanglements remains a challenging problem. In…
Consider a robot operating in an uncertain environment with stochastic, dynamic obstacles. Despite the clear benefits for trajectory optimization, it is often hard to keep track of each obstacle at every time step due to sensing and…
In unknown cluttered environments with densely stacked objects, the free-motion space is extremely barren, posing significant challenges to motion planners. Collision-free planning methods often suffer from catastrophic failures due to…
Planning robot dexterity is challenging due to the non-smoothness introduced by contacts, intricate fine motions, and ever-changing scenarios. We present a hierarchical planning framework for dexterous robotic manipulation (HiDex). This…
A cable-driven soft-bodied robot with redundancy can conduct the trajectory tracking task and in the meanwhile fulfill some extra constraints, such as tracking through an end-effector in designated orientation, or get rid of the evitable…
Legged robots are able to navigate complex terrains by continuously interacting with the environment through careful selection of contact sequences and timings. However, the combinatorial nature behind contact planning hinders the…
There is a growing demand for autonomous mobile robots capable of navigating unstructured agricultural environments. Tasks such as weed control in meadows require efficient path planning through an unordered set of coordinates while…
Despite extensive developments in motion planning of autonomous aerial vehicles (AAVs), existing frameworks faces the challenges of local minima and deadlock in complex dynamic environments, leading to increased collision risks. To address…
This paper considers multi-goal motion planning in unstructured, obstacle-rich environments where a robot is required to reach multiple regions while avoiding collisions. The planned motions must also satisfy the differential constraints…
Planning motions to grasp an object in cluttered and uncertain environments is a challenging task, particularly when a collision-free trajectory does not exist and objects obstructing the way are required to be carefully grasped and moved…
Intelligent robots must be able to perform safe and efficient motion planning in their environments. Central to modern motion planning is the configuration space. Configuration spaces define the set of configurations of a robot that result…
High degree-of-freedom dual-arm robots are becoming increasingly common due to their morphology enabling them to operate effectively in human environments. However, motion planning in real-time within unknown, changing environments remains…
We introduce a planner designed to guide robot manipulators in stably placing objects within intricate scenes. Our proposed method reverses the traditional approach to object placement: our planner selects contact points first and then…