Related papers: Robotic Path Planning Implementation using Search …
Robot motion planning involves computing a sequence of valid robot configurations that take the robot from its initial state to a goal state. Solving a motion planning problem optimally using analytical methods is proven to be PSPACE-Hard.…
This paper deals with a path planning and intelligent control of an autonomous robot which should move safely in partially structured environment. This environment may involve any number of obstacles of arbitrary shape and size; some of…
This article aims to develop novel path planning algorithms required to deploy multiple unmanned vehicles in Global Positioning System (GPS) denied environments. Unmanned vehicles (ground or aerial) are ideal platforms for executing…
Path planning for mobile robots in large dynamic environments is a challenging problem, as the robots are required to efficiently reach their given goals while simultaneously avoiding potential conflicts with other robots or dynamic…
Traditional vehicle routing algorithms do not consider the changing nature of traffic. While implementations of Dijkstra's algorithm with varying weights exist, the weights are often changed after the outcome of algorithm is executed, which…
We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked with planning a path over a horizon such that the accumulated…
In this paper, we present a fast, on-line mapping and planning solution for operation in unknown, off-road, environments. We combine obstacle detection along with a terrain gradient map to make simple and adaptable cost map. This map can be…
Replanning in temporal logic tasks is extremely difficult during the online execution of robots. This study introduces an effective path planner that computes solutions for temporal logic goals and instantly adapts to non-static and…
Robots are widely used in industry due to their efficiency and high accuracy in performance. One of the most intriguing issues in manufacturing stage of production line is to minimize significantly high percentage of energy consumed by…
We present a novel approach to path planning for robotic manipulators, in which paths are produced via iterative optimisation in the latent space of a generative model of robot poses. Constraints are incorporated through the use of…
In this paper, we propose a 3D path planning method that integrates the A* algorithm with the octree structure. Unmanned Ground Vehicles (UGVs) and legged robots have been extensively studied, enabling locomotion across a variety of…
Efficient robotic extraterrestrial exploration requires robots with diverse capabilities, ranging from scientific measurement tools to advanced locomotion. A robotic team enables the distribution of tasks over multiple specialized…
We consider the problem of computing shortest paths in a dense motion-planning roadmap $\mathcal{G}$. We assume that~$n$, the number of vertices of $\mathcal{G}$, is very large. Thus, using any path-planning algorithm that directly searches…
We present a waypoint planning algorithm for an unmanned aerial vehicle (UAV) that is teamed with an unmanned ground vehicle (UGV) for the task of search and rescue in a subterranean environment. The UAV and UGV are teamed such that the…
In this paper a search algorithm is proposed to find a sub optimal path for a non-holonomic system. For this purpose the algorithm starts sampling the front part of the vehicle and moves towards the destination with a cost function. The…
This paper considers a trajectory planning problem for a robot navigating complex terrains, which arises in applications ranging from autonomous mining vehicles to planetary rovers. The problem seeks to find a low-cost dynamically feasible…
As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…
We investigate the autonomous navigation of a mobile robot in the presence of other moving vehicles under time-varying uncertain environmental disturbances. We first predict the future state distributions of other vehicles to account for…
Collision-free mobile robot navigation is an important problem for many robotics applications, especially in cluttered environments. In such environments, obstacles can be static or dynamic. Dynamic obstacles can additionally be…
This paper proposes an online path planning and motion generation algorithm for heterogeneous robot teams performing target search in a real-world environment. Path selection for each robot is optimized using an information-theoretic…