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Practical global path planning is critical for commercializing cleaning robots working in semi-structured environments. In the literature, global path planning methods for free space usually focus on path length and neglect the traffic rule…
Robots operate in environments with varying implicit structure. For instance, a helicopter flying over terrain encounters a very different arrangement of obstacles than a robotic arm manipulating objects on a cluttered table top.…
Several planners have been developed to compute dynamically feasible, collision-free robot paths from an initial to a goal configuration. A key assumption in these works is that the goal region is reachable; an assumption that often fails…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
Future urban transportation concepts include a mixture of ground and air vehicles with varying degrees of autonomy in a congested environment. In such dynamic environments, occupancy maps alone are not sufficient for safe path planning.…
Within this paper, the problem of 3D structural inspection path planning for distributed infrastructure using aerial robots that are subject to time constraints is addressed. The proposed algorithm handles varying spatial properties of the…
Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the…
Dynamic jumping with legged robots poses a challenging problem in planning and control. Formulating the jump optimization to allow fast online execution is difficult; efficiently using this capability to generate long-horizon motion plans…
Autonomous systems, including robots and drones, face significant challenges when navigating through dynamic environments, particularly within urban settings where obstacles, fluctuating traffic, and pedestrian activity are constantly…
Motion planning is a difficult problem in robot control. The complexity of the problem is directly related to the dimension of the robot's configuration space. While in many theoretical calculations and practical applications the…
This paper proposes a cooperative environmental learning algorithm working in a fully distributed manner. A multi-robot system is more effective for exploration tasks than a single robot, but it involves the following challenges: 1) online…
Motion planners for mobile robots in unknown environments face the challenge of simultaneously maintaining both robustness against unmodeled uncertainties and persistent feasibility of the trajectory-finding problem. That is, while dealing…
Dynamic traversal of uneven terrain is a major objective in the field of legged robotics. The most recent model predictive control approaches for these systems can generate robust dynamic motion of short duration; however, planning over a…
Robotic systems, particularly in demanding environments like narrow corridors or disaster zones, often grapple with imperfect state estimation. Addressing this challenge requires a trajectory plan that not only navigates these restrictive…
Formation flight has a vast potential for aerial robot swarms in various applications. However, existing methods lack the capability to achieve fully autonomous large-scale formation flight in dense environments. To bridge the gap, we…
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…
The use of an efficient coverage planning method is key for autonomous navigation in agricultural environments, where a robot must cover large areas of crops. This paper generally reviews the current state of the art of coverage path…
This work deals with a moving target chasing mission of an aerial vehicle equipped with a vision sensor in a cluttered environment. In contrast to obstacle-free or sparse environments, the chaser should be able to handle collision and…
To reduce the computational cost of humanoid motion generation, we introduce a new approach to representing robot kinematic reachability: the differentiable reachability map. This map is a scalar-valued function defined in the task space…
Multi-robot systems have begun to permeate into a variety of different fields, but collision-free navigation in a decentralized manner is still an arduous task. Typically, the navigation of high speed multi-robot systems demands replanning…