Related papers: Faster Algorithms for Growing Collision-Free Conve…
We present a complete framework for fast motion planning of non-holonomic autonomous mobile robots in highly complex but structured environments. Conventional grid-based planners struggle with scalability, while many kinematically-feasible…
This paper presents a novel approach for collision avoidance in optimal and model predictive control, in which the environment is represented by a large number of points and the robot as a union of padded polygons. The conditions that none…
Multi-robot systems offer enhanced capability over their monolithic counterparts, but they come at a cost of increased complexity in coordination. To reduce complexity and to make the problem tractable, multi-robot motion planning (MRMP)…
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…
In this paper, we propose a sampling algorithm based on state-of-the-art statistical machine learning techniques to obtain conditional nonlinear optimal perturbations (CNOPs), which is different from traditional (deterministic) optimization…
We present a real-time algorithm that finds the Penetration Depth (PD) between general polygonal models based on iterative and local optimization techniques. Given an in-collision configuration of an object in configuration space, we find…
Range-only (RO) pose estimation involves determining a robot's pose over time by measuring the distance between multiple devices on the robot, known as tags, and devices installed in the environment, known as anchors. The nonconvex nature…
Collision-free motion is essential for mobile robots. Most approaches to collision-free and efficient navigation with wheeled robots require parameter tuning by experts to obtain good navigation behavior. This study investigates the…
Obstacle avoidance for multi-robot navigation with polytopic shapes is challenging. Existing works simplify the system dynamics or consider it as a convex or non-convex optimization problem with positive distance constraints between robots,…
Remote sensing image registration is valuable for image-based navigation system despite posing many challenges. As the search space of registration is usually non-convex, the optimization algorithm, which aims to search the best…
We present a new algorithm for convex separable quadratic programming (QP) called Nys-IP-PMM, a regularized interior-point solver that uses low-rank structure to accelerate solution of the Newton system. The algorithm combines the interior…
Obstacle avoidance between polytopes is a challenging topic for optimal control and optimization-based trajectory planning problems. Existing work either solves this problem through mixed-integer optimization, relying on simplification of…
Machine learning and artificial intelligence algorithms typically require large amount of data for training. This means that for nonlinear aeroelastic applications, where small training budgets are driven by the high computational burden…
The boundary control problem is a non-convex optimization and control problem in many scientific domains, including fluid mechanics, structural engineering, and heat transfer optimization. The aim is to find the optimal values for the…
A central challenge to many fields of science and engineering involves minimizing non-convex error functions over continuous, high dimensional spaces. Gradient descent or quasi-Newton methods are almost ubiquitously used to perform such…
As robots are being increasingly used in close proximity to humans and objects, it is imperative that robots operate safely and efficiently under real-world conditions. Yet, the environment is seldom known perfectly. Noisy sensors and…
Convex free regions provide a structured and optimization-friendly representation of collision-free space for robot navigation in unknown and cluttered environments. However, existing methods typically enlarge local collision-free regions…
For enabling efficient, large-scale coordination of unmanned aerial vehicles (UAVs) under the labeled setting, in this work, we develop the first polynomial time algorithm for the reconfiguration of many moving bodies in three-dimensional…
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…
Generating obstacle-free trajectories for robotic manipulators in unstructured and cluttered environments remains a significant challenge. Existing motion planning methods often require additional computational effort to generate the final…