Related papers: An Overtaking Trajectory Planning Framework Based …
The driving risk field is applicable to more complex driving scenarios, providing new approaches for safety decision-making and active vehicle control in intricate environments. However, existing research often overlooks the driving risk…
We consider a setting with an evolving set of requests for transportation from an origin to a destination before a deadline and a set of agents capable of servicing the requests. In this setting, an assignment authority is to assign agents…
Recent advances in trajectory replanning have enabled quadrotor to navigate autonomously in unknown environments. However, high-speed navigation still remains a significant challenge. Given very limited time, existing methods have no strong…
This article presents a family of Stochastic Cartographic Occupancy Prediction Engines (SCOPEs) that enable mobile robots to predict the future states of complex dynamic environments. They do this by accounting for the motion of the robot…
A new path planning method for Mobile Robots (MR) has been developed and implemented. On the one hand, based on the shortest path from the start point to the goal point, this path planner can choose the best moving directions of the MR,…
A flexible topological representation consisting of a two-layer graph structure built on-board an Unmanned Aerial Vehicle (UAV) by continuously filling the free space of an occupancy map with intersecting spheres is proposed in this…
Safe path planning is a crucial component in autonomous robotics. The many approaches to find a collision free path can be categorically divided into trajectory optimisers and sampling-based methods. When planning using occupancy maps, the…
This paper presents a global trajectory optimization framework for minimizing lap time in autonomous racing under uncertain vehicle dynamics. Optimizing the trajectory over the full racing horizon is computationally expensive, and tracking…
Traffic accidents pose a significant risk to human health and property safety. Therefore, to prevent traffic accidents, predicting their risks has garnered growing interest. We argue that a desired prediction solution should demonstrate…
In pursuit of the time-optimal path tracking (TOPT) trajectory of a robot manipulator along a preset path, a beforehand identified robot dynamic model is usually used to obtain the required optimal trajectory for perfect tracking. However,…
This work introduces progressive spatio-temporal filtering, an efficient method to build all-frequency approximations to the light transport distribution into a scene by filtering individual samples produced by an underlying path sampler,…
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…
In this paper, we propose a framework for fast trajectory planning for unmanned aerial vehicles (UAVs). Our framework is reformulated from an existing bilevel optimization, in which the lower-level problem solves for the optimal trajectory…
Coordinating the motion of multiple robots in cluttered environments remains a computationally challenging task. We study the problem of minimizing the execution time of a set of geometric paths by a team of robots with state-dependent…
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…
The autonomous driving industry is expected to grow by over 20 times in the coming decade and, thus, motivate researchers to delve into it. The primary focus of their research is to ensure safety, comfort, and efficiency. An autonomous…
Efficient trajectory planning for urban intersections is currently one of the most challenging tasks for an Autonomous Vehicle (AV). Courteous behavior towards other traffic participants, the AV's comfort and its progression in the…
This dissertation addresses the growing challenge of air traffic flow management by proposing a simulation-based optimization (SbO) approach for multi-objective runway operations scheduling. The goal is to optimize airport capacity…
Trajectory planning is a critical component in ensuring the safety, stability, and efficiency of autonomous vehicles. While existing trajectory planning methods have achieved progress, they often suffer from high computational costs,…
Motion planning algorithms often leverage topological information about the environment to improve planner performance. However, these methods often focus only on the environment's connectivity while ignoring other properties such as…