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Motion trajectory planning is one crucial aspect for automated vehicles, as it governs the own future behavior in a dynamically changing environment. A good utilization of a vehicle's characteristics requires the consideration of the…

Generating obstacle-free trajectories for robotic manipulators in unstructured and cluttered environments remains a significant challenge. Existing motion planning methods often require additional computational effort to generate the final…

Continuous formulations of trajectory planning problems have two main benefits. First, constraints are guaranteed to be satisfied at all times. Secondly, dynamic obstacles can be naturally considered with time. This paper introduces a novel…

Multi-robot teams have attracted attention from industry and academia for their ability to perform collaborative tasks in unstructured environments, such as wilderness rescue and collaborative transportation.In this paper, we propose a…

In this paper, a novel real-time acceleration-continuous path-constrained trajectory planning algorithm is proposed with an appealing built-in tradability mechanism between cruise motion and time-optimal motion. Different from existing…

Trajectory optimization is an important tool for control and planning of complex, underactuated robots, and has shown impressive results in real world robotic tasks. However, in applications where the cost function to be optimized is…

Applying intelligent robot arms in dynamic uncertain environments (i.e., flexible production lines) remains challenging, which requires efficient algorithms for real time trajectory generation. The motion planning problem for robot…

A redundant manipulator has multiple inverse kinematics solutions per end-effector pose. Accordingly, there can be many trajectories for joints that follow a given endeffector path in the Cartesian space. In this paper, we present a…

The central challenge in robotic manipulation of deformable objects lies in aligning high-level semantic instructions with physical interaction points under complex appearance and texture variations. Due to near-infinite degrees of freedom,…

A novel decentralised trajectory generation algorithm for Multi Agent systems is presented. Multi-robot systems have the capacity to transform lives in a variety of fields. But, trajectory generation for multi-robot systems is still in its…

This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…

Trajectory planning for multiple robots in shared environments is a challenging problem especially when there is limited communication available or no central entity. In this article, we present Real-time planning using Linear Spatial…

In this work, we propose an optimization-based trajectory planner for tractor-trailer vehicles on curvy roads. The lack of analytical expression for the trailer's errors to the center line pose a great challenge to the trajectory planning…

In this paper, we present a novel strategy to compute minimum-time trajectories for quadrotors in constrained environments. In particular, we consider the motion in a given flying region with obstacles and take into account the physical…

The urban environment is amongst the most difficult domains for autonomous vehicles. The vehicle must be able to plan a safe route on challenging road layouts, in the presence of various dynamic traffic participants such as vehicles,…

This paper introduces a graph-based, potential-guided method for path planning problems in unknown environments, where obstacles are unknown until the robots are in close proximity to the obstacle locations. Inspired by optimal transport…

If we give a robot the task of moving an object from its current position to another location in an unknown environment, the robot must explore the map, identify all types of obstacles, and then determine the best route to complete the…

Trajectory planning for quadrotors in cluttered environments has been challenging in recent years. While many trajectory planning frameworks have been successful, there still exists potential for improvements, particularly in enhancing the…

The paper focuses on collision-inclusive motion planning for impact-resilient mobile robots. We propose a new deformation recovery and replanning strategy to handle collisions that may occur at run-time. Contrary to collision avoidance…

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…