Related papers: Path Planning in Complex Environments with Superqu…
For multi-vehicle complex traffic scenarios in shared spaces such as intelligent intersections, safe coordination and trajectory planning is challenging due to computational complexity. To meet this challenge, we introduce a computationally…
Real-time navigation in dense human environments is a challenging problem in robotics. Most existing path planners fail to account for the dynamics of pedestrians because introducing time as an additional dimension in search space is…
Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant…
Unlike squared (or alike) quadrotors, elongated bi-copters leverage natural superiority in crossing tight spaces. To date, extensive works have focused on the design, modeling, and control of bi-copters. Besides, a proper motion planner…
This paper proposes a solution to the problem of smooth path planning for mobile robots in dynamic and unknown environments. A novel concept of Time-Warped Grid is introduced to predict the pose of obstacles in the environment and avoid…
We propose a novel, multi-layered planning approach for computing paths that satisfy both kinodynamic and spatiotemporal constraints. Our three-part framework first establishes potential sequences to meet spatial constraints, using them to…
The problem of path planning in unknown environments remains a challenging problem - as the environment is gradually observed during the navigation, the underlying planner has to update the environment representation and replan, promptly…
We introduce a new method that efficiently computes a set of viewpoints and trajectories for high-quality 3D reconstructions in outdoor environments. Our goal is to automatically explore an unknown area, and obtain a complete 3D scan of a…
Trajectory optimization offers mature tools for motion planning in high-dimensional spaces under dynamic constraints. However, when facing complex configuration spaces, cluttered with obstacles, roboticists typically fall back to…
In this paper, we propose a robust and efficient quadrotor motion planning system for fast flight in 3-D complex environments. We adopt a kinodynamic path searching method to find a safe, kinodynamic feasible and minimum-time initial…
In this work, we propose a search-based planning method to compute dynamically feasible trajectories for a quadrotor flying in an obstacle-cluttered environment. Our approach searches for smooth, minimum-time trajectories by exploring the…
Although quadrotor navigation has achieved high performance in trajectory planning and control, real-time adaptability in unknown complex environments remains a core challenge. This difficulty mainly arises because most existing planning…
The miniaturisation of sensors and processors, the advancements in connected edge intelligence, and the exponential interest in Artificial Intelligence are boosting the affirmation of autonomous nano-size drones in the Internet of Robotic…
This paper proposes a fast and accurate trajectory planning algorithm for autonomous parking. Nominally, an optimal control problem should be formulated to describe this scheme, but the dimensionality of the optimal control problem is…
Large environments are challenging for path planning algorithms as the size of the configuration space increases. Furthermore, if the environment is mainly unexplored, large amounts of the path are planned through unknown areas. Hence, a…
We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time. The framework obtains high levels of…
One of the challenges faced by Autonomous Aerial Vehicles is reliable navigation through urban environments. Factors like reduction in precision of Global Positioning System (GPS), narrow spaces and dynamically moving obstacles make the…
Planning time-optimal trajectories for quadrotors in cluttered environments is a challenging, non-convex problem. This paper addresses minimizing the traversal time of a given collision-free geometric path without violating bounds on…
In dynamic and uncertain environments, robotic path planning demands accurate spatiotemporal environment understanding combined with robust decision-making under partial observability. However, current deep reinforcement learning-based path…
Path planning for 3D solid objects is a challenging problem, requiring a search in a six-dimensional configuration space, which is, nevertheless, essential in many robotic applications such as bin-picking and assembly. The commonly used…