Related papers: Collision-Free Trajectory Optimization in Cluttere…
This paper presents an autonomous navigation framework for reaching a goal in unknown 3D cluttered environments. The framework consists of three main components. First, a computationally efficient method for mapping the environment from the…
In this paper, we consider a robot navigation problem in environments populated by humans. The goal is to determine collision-free and dynamically feasible trajectories that also maximize human satisfaction. This is because they may drive…
Global optimization has gained attraction over the past decades, thanks to the development of both theoretical foundations and efficient numerical routines. Among recent advances, Kernel Sum of Squares (KernelSOS) provides a powerful…
Trajectory planning for mobile robots in cluttered environments remains a major challenge due to narrow passages, where conventional methods often fail or generate suboptimal paths. To address this issue, we propose the adaptive trajectory…
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…
Optimization-based methods are commonly applied in autonomous driving trajectory planners, which transform the continuous-time trajectory planning problem into a finite nonlinear program with constraints imposed at finite collocation…
For autonomous robots navigating in urban environments, it is important for the robot to stay on the designated path of travel (i.e., the footpath), and avoid areas such as grass and garden beds, for safety and social conformity…
In this report, we try to improve the performance of existing approaches for search operations in multi-robot context. We propose three novel algorithms that are using a triangular grid pattern, i.e., robots certainly go through the…
The main aim of this paper is to solve a path planning problem for an autonomous mobile robot in static and dynamic environments. The problem is solved by determining the collision-free path that satisfies the chosen criteria for shortest…
This research addresses the increasing demand for advanced navigation systems capable of operating within confined surroundings. A significant challenge in this field is developing an efficient planning framework that can generalize across…
In this paper, we create optimal, collision-free, time-dependent trajectories through cluttered dynamic environments. The many spatial and temporal constraints make finding an initial guess for a numerical solver difficult. Graphs of Convex…
For typical applications of UAVs in power grid scenarios, we construct the problem as planning UAV trajectories for coverage in cluttered environments. In this paper, we propose an optimal smooth coverage trajectory planning algorithm. The…
Estimating unknown rotations from noisy measurements is an important step in SfM and other 3D vision tasks. Typically, local optimization methods susceptible to returning suboptimal local minima are used to solve the rotation averaging…
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…
Collision avoidance in unknown obstacle-cluttered environments may not always be feasible. This paper focuses on an emerging paradigm shift in which potential collisions with the environment can be harnessed instead of being avoided…
In this paper, we present a novel approach to efficiently generate collision-free optimal trajectories for multiple non-holonomic mobile robots in obstacle-rich environments. Our approach first employs a graph-based multi-agent path planner…
Quadrotors hold significant promise for several applications such as agriculture, search and rescue, and infrastructure inspection. Achieving autonomous operation requires systems to navigate safely through complex and unfamiliar…
To be applicable to real world scenarios trajectory planning schemes for mobile autonomous systems must be able to efficiently deal with obstacles in the area of operation. In the context of optimization based trajectory planning and…
In indoor environments, multi-robot visual (RGB-D) mapping and exploration hold immense potential for application in domains such as domestic service and logistics, where deploying multiple robots in the same environment can significantly…
Navigating robots safely and efficiently in crowded and complex environments remains a significant challenge. However, due to the dynamic and intricate nature of these settings, planning efficient and collision-free paths for robots to…