Related papers: An Optimization-Based Planner with B-spline Parame…
Sequential Convex Programming (SCP) has recently gained significant popularity as an effective method for solving optimal control problems and has been successfully applied in several different domains. However, the theoretical analysis of…
Online trajectory planning enables robot manipulators to react quickly to changing environments or tasks. Many robot trajectory planners exist for known environments but are often too slow for online computations. Current methods in online…
This paper presents a hybrid robot motion planner that generates long-horizon motion plans for robot navigation in environments with obstacles. We propose a hybrid planner, RRT* with segmented trajectory optimization (RRT*-sOpt), which…
Navigating dynamic environments requires the robot to generate collision-free trajectories and actively avoid moving obstacles. Most previous works designed path planning algorithms based on one single map representation, such as the…
We consider the problem of finding collision-free paths for curvature-constrained systems in the presence of obstacles while minimizing execution time. Specifically, we focus on the setting where a planar system can travel at some range of…
In this paper, a risk map-based path planning algorithm is introduced for autonomous vehicles. Multivariate B-splines are implemented to generate a risk map, which measures the risk of colliding with different objects. In the following…
This paper presents a novel multi-robot coverage path planning (CPP) algorithm - aka SCoPP - that provides a time-efficient solution, with workload balanced plans for each robot in a multi-robot system, based on their initial states. This…
This paper presents a new fast and robust algorithm that provides fuel-optimal impulsive control input sequences that drive a linear time-variant system to a desired state at a specified time. This algorithm is applicable to a broad class…
One way of ensuring operator's safety during human-robot collaboration is through Speed and Separation Monitoring (SSM), as defined in ISO standard ISO/TS 15066. In general, it is impossible to avoid all human-robot collisions: consider for…
The goal of robust motion planning consists of designing open-loop controls which optimally steer a system to a specific target region while mitigating uncertainties and disturbances which affect the dynamics. Recently, stochastic optimal…
Originating in the artificial intelligence literature, optimistic planning (OP) is an algorithm that generates near-optimal control inputs for generic nonlinear discrete-time systems whose input set is finite. This technique is therefore…
In autonomous navigation, trajectory replanning, refinement, and control command generation are essential for effective motion planning. This paper presents a resilient approach to trajectory replanning addressing scenarios where the…
This paper introduces a local planner that synergizes the decision making and trajectory planning modules towards autonomous driving. The decision making and trajectory planning tasks are jointly formulated as a nonlinear programming…
We consider the problem of robotic planning under uncertainty in this paper. This problem may be posed as a stochastic optimal control problem, a solution to which is fundamentally intractable owing to the infamous "curse of…
Basis splines enable a time-continuous feasibility check with a finite number of constraints. Constraints apply to the whole trajectory for motion planning applications that require a collision-free and dynamically feasible trajectory.…
This paper presents a unified optimization-based path planning approach to efficiently compute locally optimal solutions to advanced path planning problems. The approach is motivated by first showing that a lattice-based path planner can be…
This study presents a speech-based motion planning strategy (SBMP) developed for lower limb exoskeletons to facilitate safe and compliant human-robot interaction. A speech processing system, finite state machine, and central pattern…
Controller tuning and parameter optimization are crucial in system design to improve closed-loop system performance. Bayesian optimization has been established as an efficient model-free controller tuning and adaptation method. However,…
Identifying internal parameters for planning is crucial to maximizing the performance of a planner. However, automatically tuning internal parameters which are conditioned on the problem instance is especially challenging. A recent line of…
Given a time series in $R^n$ with a piecewise constant mean and independent noises, we propose an exact dynamic programming algorithm to minimize a least square criterion with a multiscale penalty promoting well-spread changepoints. Such a…