Related papers: Experience-based Optimal Motion Planning Algorithm…
Interaction-aware planning for autonomous driving requires an exploration of a combinatorial solution space when using conventional search- or optimization-based motion planners. With Deep Reinforcement Learning, optimal driving strategies…
Optimal motion planning involves obstacles avoidance where path planning is the key to success in optimal motion planning. Due to the computational demands, most of the path planning algorithms can not be employed for real-time based…
This paper presents a novel algorithm, called MRRT, which uses multiple rapidly-exploring random trees for fast online replanning of autonomous vehicles in dynamic environments with moving obstacles. The proposed algorithm is built upon the…
In this paper, we present a new algorithm that extends RRT* and RT-RRT* for online path planning in complex, dynamic environments. Sampling-based approaches often perform poorly in environments with narrow passages, a feature common to many…
During the last decade, sampling-based path planning algorithms, such as Probabilistic RoadMaps (PRM) and Rapidly-exploring Random Trees (RRT), have been shown to work well in practice and possess theoretical guarantees such as…
Coverage path planning is a major application for mobile robots, which requires robots to move along a planned path to cover the entire map. For large-scale tasks, coverage path planning benefits greatly from multiple robots. In this paper,…
Multi-robot path planning is a computational process involving finding paths for each robot from its start to the goal while ensuring collision-free operation. It is widely used in robots and autonomous driving. However, the computational…
This work presents a fully integrated tree-based combined exploration-planning algorithm: Exploration-RRT (ERRT). The algorithm is focused on providing real-time solutions for local exploration in a fully unknown and unstructured…
This paper proposes a rapidly-exploring random trees (RRT) algorithm to solve the motion planning problem for hybrid systems. At each iteration, the proposed algorithm, called HyRRT, randomly picks a state sample and extends the search tree…
Motion planning seeks a collision-free path in a configuration space (C-space), representing all possible robot configurations in the environment. As it is challenging to construct a C-space explicitly for a high-dimensional robot, we…
We present an experienced-based planning framework called Thunder that learns to reduce computation time required to solve high-dimensional planning problems in varying environments. The approach is especially suited for large configuration…
Probabilistic sampling methods have become very popular to solve single-shot path planning problems. Rapidly-exploring Random Trees (RRTs) in particular have been shown to be efficient in solving high dimensional problems. Even though…
This paper considers a risk-constrained motion planning problem and aims to find the solution combining the concepts of iterative model predictive control (MPC) and data-driven distributionally robust (DR) risk-constrained optimization. In…
We present Model Predictive Trees (MPT), a receding horizon tree search algorithm that improves its performance by reusing information efficiently. Whereas existing solvers reuse only the highest-quality trajectory from the previous…
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,…
In this work, we present a novel sampling-based path planning method, called SPRINT. The method finds solutions for high dimensional path planning problems quickly and robustly. Its efficiency comes from minimizing the number of collision…
Leveraging the power of a graph neural network (GNN) with message passing, we present a Monte Carlo Tree Search (MCTS) method to solve stochastic orienteering problems with chance constraints. While adhering to an assigned travel budget the…
Informative path planning is an important and challenging problem in robotics that remains to be solved in a manner that allows for wide-spread implementation and real-world practical adoption. Among various reasons for this, one is the…
Sampling-based motion planners perform exceptionally well in robotic applications that operate in high-dimensional space. However, most works often constrain the planning workspace rooted at some fixed locations, do not adaptively reason on…
The paper introduces an asymptotically optimal lifelong sampling-based path planning algorithm that combines the merits of lifelong planning algorithms and lazy search algorithms for rapid replanning in dynamic environments where edge…