Related papers: Real-Time Fast Marching Tree for Mobile Robot Moti…
Autonomous parking technology is a key concept within autonomous driving research. This paper will propose an imaginative autonomous parking algorithm to solve issues concerned with parking. The proposed algorithm consists of three parts:…
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…
We introduce a simple yet effective sampling-based planner that is tailored for bottleneck pathfinding: Given an implicitly-defined cost map $\mathcal{M}:\mathbb{R}^d\rightarrow \mathbb{R}$, which assigns to every point in space a real…
This work presents an optimal sampling-based method to solve the real-time motion planning problem in static and dynamic environments, exploiting the Rapid-exploring Random Trees (RRT) algorithm and the Model Predictive Path Integral (MPPI)…
Finding a collision-free path for autonomous parking is usually performed by computing geometric equations, but the geometric approach may become unusable under challenging situations where space is highly constrained. We propose an…
In this work, we investigate task planning for mobile robots under linear temporal logic (LTL) specifications. This problem is particularly challenging when robots navigate in continuous workspaces due to the high computational complexity…
Autonomous Underwater Vehicle-Manipulator systems (AUVMS) is a new tool for ocean exploration, the AUVMS path planning problem is addressed in this paper. AUVMS is a high dimension system with a large difference in inertia distribution,…
Trajectory planning is challenging for autonomous cars since they operate in unpredictable environments with limited sensor horizons. To incorporate new information as it is sensed, planning is done in a loop, with the next plan being…
Efficient tabletop rearrangement planning seeks to find high-quality solutions while minimizing total cost. However, the task is challenging due to object dependencies and limited buffer space for temporary placements. The complexity…
Classical sampling-based motion planners like the RRTs suffer from inefficiencies, particularly in cluttered or high-dimensional spaces, due to their reliance on undirected, random sampling. This paper introduces the Episodic RRT, a novel…
Enabling full robotic workloads with diverse behaviors on mobile systems with stringent resource and energy constraints remains a challenge. In recent years, attempts have been made to deploy single-accelerator-based computing platforms…
Ray tracing algorithms, that can simulate multipath radio propagation in presence of geometric obstacles such as buildings, objects or vehicles, are becoming quite popular, due to the increasing availability of digital environment databases…
This paper presents a collection of path planning algorithms for real-time movement of multiple robots across a Robotic Mobile Fulfillment System (RMFS). Robots are assigned to move storage units to pickers at working stations instead of…
Planning the motion path for a tightly coupled dual-arm space manipulator under closed-chain constraints is a fundamental yet challenging problem in on-orbit assembly of large-scale space structures. The closed-chain constraints…
The objective of this study is to enable fast and safe manipulation tasks in home environments. Specifically, we aim to develop a system that can recognize its surroundings and identify target objects while in motion, enabling it to plan…
As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…
The dynamic trees problem is to maintain a forest subject to edge insertions and deletions while facilitating queries such as connectivity, path weights, and subtree weights. Dynamic trees are a fundamental building block of a large number…
Many exciting robotic applications require multiple robots with many degrees of freedom, such as manipulators, to coordinate their motion in a shared workspace. Discovering high-quality paths in such scenarios can be achieved, in principle,…
Typical marine environments are highly complex with spatio-temporally varying currents and dynamic obstacles, presenting significant challenges to Unmanned Surface Vehicles (USVs) for safe and efficient navigation. Thus, the USVs need to…
Balancing the trade-off between safety and efficiency is of significant importance for path planning under uncertainty. Many risk-aware path planners have been developed to explicitly limit the probability of collision to an acceptable…