Related papers: Online path planning for kinematic-constrained UAV…
This paper introduces a real-time algorithm for navigating complex unknown environments cluttered with movable obstacles. Our algorithm achieves fast, adaptable routing by actively attempting to manipulate obstacles during path planning and…
Unmanned surface vessels (USVs) are widely used in ocean exploration and environmental protection fields. To ensure that USV can successfully perform its mission, trajectory planning and motion tracking are the two most critical…
This paper studies high-speed online planning in dynamic environments. The problem requires finding time-optimal trajectories that conform to system dynamics, meeting computational constraints for real-time adaptation, and accounting for…
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…
Proper path planning is the first step of robust and efficient autonomous navigation for mobile robots. Meanwhile, it is still challenging for robots to work in a complex environment without complete prior information. This paper presents…
This paper presents a framework that allows online dynamic-stability-constrained optimal trajectory planning of a mobile manipulator robot working on rough terrain. First, the kinematics model of a mobile manipulator robot, and the Zero…
This paper presents an adaptive coverage control method for a fleet of off-road and Unmanned Ground Vehicles (UGVs) operating in dynamic (time-varying) agricultural environments. Traditional coverage control approaches often assume static…
High-speed obstacle avoidance of uncrewed aerial vehicles (UAVs) in cluttered environments is a significant challenge. Existing UAV planning and obstacle avoidance systems can only fly at moderate speeds or at high speeds over empty or…
The main contribution of this paper is a novel method for planning globally optimal trajectories for dynamical systems subject to polygonal constraints. The proposed method is a hybrid trajectory planning approach, which combines graph…
Unmanned aerial vehicles (UAVs) are expected to be an integral part of wireless networks, and determining collision-free trajectories for multiple UAVs while satisfying requirements of connectivity with ground base stations (GBSs) is a…
The robotics community is increasingly interested in autonomous aerial transportation. Unmanned aerial vehicles with suspended payloads have advantages over other systems, including mechanical simplicity and agility, but pose great…
Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…
Global navigation satellite systems (GNSS) denied environments/conditions require unmanned aerial vehicles (UAVs) to energy-efficiently and reliably fly. To this end, this study presents perception-and-energy-aware motion planning for UAVs…
This paper introduces DYNUS, an uncertainty-aware trajectory planner designed for dynamic unknown environments. Operating in such settings presents many challenges -- most notably, because the agent cannot predict the ground-truth future…
This paper presents a new swarm intelligence-based approach to deal with the cooperative path planning problem of unmanned aerial vehicles (UAVs), which is essential for the automatic inspection of infrastructure. The approach uses a 3D…
This article proposes a Novel Nonlinear Model Predictive Control (NMPC) for navigation and obstacle avoidance of an Unmanned Aerial Vehicle (UAV). The proposed NMPC formulation allows for a fully parametric obstacle trajectory, while in…
Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…
Autonomous exploration requires robots to generate informative trajectories iteratively. Although sampling-based methods are highly efficient in unmanned aerial vehicle exploration, many of these methods do not effectively utilize the…
One of the most critical features for the successful operation of autonomous UAVs is the ability to make decisions based on the information acquired from their surroundings. Each UAV must be able to make decisions during the flight in order…
There are many challenges for robot navigation in densely populated dynamic environments. This paper presents a survey of the path planning methods for robot navigation in dense environments. Particularly, the path planning in the…