Related papers: Exploring Robot Trajectory Planning -- A Comparati…
Efficient planning in dynamic and uncertain environments is a fundamental challenge in robotics. In the context of trajectory optimization, the feasibility of paths can change as the environment evolves. Therefore, it can be beneficial to…
As drones and autonomous cars become more widespread it is becoming increasingly important that robots can operate safely under realistic conditions. The noisy information fed into real systems means that robots must use estimates of the…
Motion planning for urban environments with numerous moving agents can be viewed as a combinatorial problem. With passing an obstacle before, after, right or left, there are multiple options an autonomous vehicle could choose to execute.…
Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…
This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…
In this paper, a novel real-time acceleration-continuous path-constrained trajectory planning algorithm is proposed with an appealing built-in tradability mechanism between cruise motion and time-optimal motion. Different from existing…
Trajectory and intention prediction of traffic participants is an important task in automated driving and crucial for safe interaction with the environment. In this paper, we present a new approach to vehicle trajectory prediction based on…
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…
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…
This article presents a multi-robot trajectory planning method which not only guarantees optimization feasibility and but also resolves deadlocks in obstacle-dense environments. The method is proposed via formulating a recursive…
Applying intelligent robot arms in dynamic uncertain environments (i.e., flexible production lines) remains challenging, which requires efficient algorithms for real time trajectory generation. The motion planning problem for robot…
Modern trajectory optimization based approaches to motion planning are fast, easy to implement, and effective on a wide range of robotics tasks. However, trajectory optimization algorithms have parameters that are typically set in advance…
The motion planners used in self-driving vehicles need to generate trajectories that are safe, comfortable, and obey the traffic rules. This is usually achieved by two modules: behavior planner, which handles high-level decisions and…
The motion planning problem is a fundamental problem in robotics, so that every autonomous robot should be able to deal with it. A number of solutions have been proposed and a probabilistic one seems to be quite reasonable. However, here we…
This paper presents a method based on linear programming for trajectory planning of automated vehicles, combining obstacle avoidance, time scheduling for the reaching of waypoints and time-optimal traversal of tube-like road segments.…
In order to ensure efficient flow of goods in an automated warehouse and to guarantee its continuous distribution to/from picking stations in an effective way, decisions about which goods will be delivered to which particular picking…
Offline optimal planning of trajectories for redundant robots along prescribed task space paths is usually broken down into two consecutive processes: first, the task space path is inverted to obtain a joint space path, then, the latter is…
We claim that navigation in human environments can be viewed as cooperative activity especially in constrained situations. Humans concurrently aid and comply with each other while moving in a shared space. Cooperation helps pedestrians to…
Optimal motion planning along prescribed paths can be solved with several techniques, but most of them do not take into account the wrenches exerted by the end-effector when in contact with the environment. When a dynamic model of the…
In this paper, we deal with the problem of full-body path planning for walking robots. The state of walking robots is defined in multi-dimensional space. Path planning requires defining the path of the feet and the robot's body. Moreover,…