Related papers: Anytime Planning for End-Effector Trajectory Track…
This 'research preview' paper introduces an adaptive path planning framework for robotic mission execution in assistive-care applications. The framework provides a graph-based environment modelling approach, with dynamic path finding…
Many AI problems, in robotics and other domains, are goal-directed, essentially seeking a trajectory leading to some goal state. In such problems, the way we choose to represent a trajectory underlies algorithms for trajectory prediction…
Traditional target tracking pipelines including detection, mapping, navigation, and control are comprehensive but introduce high latency, limitting the agility of quadrotors. On the contrary, we follow the design principle of "less is…
Human trajectory prediction has received increased attention lately due to its importance in applications such as autonomous vehicles and indoor robots. However, most existing methods make predictions based on human-labeled trajectories and…
Robot control policies for temporally extended and sequenced tasks are often characterized by discontinuous switches between different local dynamics. These change-points are often exploited in hierarchical motion planning to build…
In this work we present a trajectory Optimization framework for whole-body motion planning through contacts. We demonstrate how the proposed approach can be applied to automatically discover different gaits and dynamic motions on a…
Traditional methods for autonomous driving are implemented with many building blocks from perception, planning and control, making them difficult to generalize to varied scenarios due to complex assumptions and interdependencies. Recently,…
Autonomous multi-finger grasping is a fundamental capability in robotic manipulation. Optimization-based approaches show strong performance, but tend to be sensitive to initialization and are potentially time-consuming. As an alternative,…
In this paper, we aim to forecast a future trajectory distribution of a moving agent in the real world, given the social scene images and historical trajectories. Yet, it is a challenging task because the ground-truth distribution is…
Given an undirected graph G, the edge orientation problem asks for assigning a direction to each edge to convert G into a directed graph. The aim is to minimize the maximum out degree of a vertex in the resulting directed graph. This…
Time-optimal path tracking, as a significant tool for industrial robots, has attracted the attention of numerous researchers. In most time-optimal path tracking problems, the actuator torque constraints are assumed to be conservative, which…
Pedestrian trajectory prediction is an essential and challenging task for a variety of real-life applications such as autonomous driving and robotic motion planning. Besides generating a single future path, predicting multiple plausible…
Most passivity based trajectory tracking algorithms for mechanical systems can only stabilise reference trajectories that have constant energy. This paper overcomes this limitation by deriving a single variable Hamiltonian model for the…
Temporal graphs represent graph evolution over time, and have been receiving considerable research attention. Work on expressing temporal graph patterns or discovering temporal motifs typically assumes relatively simple temporal…
The hierarchy of global and local planners is one of the most commonly utilized system designs in autonomous robot navigation. While the global planner generates a reference path from the current to goal locations based on the pre-built…
Recently, end-to-end learning frameworks are gaining prevalence in the field of robot control. These frameworks input states/images and directly predict the torques or the action parameters. However, these approaches are often critiqued due…
In this paper different optimization of Ad-hoc routing algorithm is surveyed and a new method using training based optimization algorithm for reducing the complexity of routing algorithms is suggested. A binary matrix is assigned to each…
Given a geometric path, the Time-Optimal Path Tracking problem consists in finding the control strategy to traverse the path time-optimally while regulating tracking errors. A simple yet effective approach to this problem is to decompose…
3D multi-object tracking (MOT) and trajectory forecasting are two critical components in modern 3D perception systems. We hypothesize that it is beneficial to unify both tasks under one framework to learn a shared feature representation of…
Recent analyses highlight challenges in autonomous vehicle technologies, particularly failures in decision-making under dynamic or emergency conditions. Traditional automated driving systems recalculate the entire trajectory in a changing…