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To generate safe and real-time trajectories for an autonomous vehicle in dynamic environments, path and speed decoupled planning methods are often considered. This paper studies speed planning, which mainly deals with dynamic obstacle…
Even though mobile robots have been around for decades, trajectory optimization and continuous time collision avoidance remain subject of active research. Existing methods trade off between path quality, computational complexity, and…
This paper is about generating motion plans for high degree-of-freedom systems that account for collisions along the entire body. A particular class of mathematical programs with complementarity constraints become useful in this regard.…
This paper presents a search-based partial motion planner to generate dynamically feasible trajectories for car-like robots in highly dynamic environments. The planner searches for smooth, safe, and near-time-optimal trajectories by…
Approximating collision-free space is fundamental to robot planning in complex environments. Convex geometric representations, such as polytopes and ellipsoids, are widely employed due to their structural properties, which can be easily…
We propose a new method for autonomous navigation in uneven terrains by utilizing a sparse Gaussian Process (SGP) based local perception model. The SGP local perception model is trained on local ranging observation (pointcloud) to learn the…
As the demands of autonomous mobile robots are increasing in recent years, the requirement of the path planning/navigation algorithm should not be content with the ability to reach the target without any collisions, but also should try to…
Autonomous motion planning is challenging in multi-obstacle environments due to nonconvex collision avoidance constraints. Directly applying numerical solvers to these nonconvex formulations fails to exploit the constraint structures,…
Understanding the geometry of collision-free configuration space (C-free) in the presence of task-space obstacles is an essential ingredient for collision-free motion planning. While it is possible to check for collisions at a point using…
This paper reports a novel result: with proper robot models on matrix Lie groups, one can formulate the kinodynamic motion planning problem for rigid body systems as \emph{exact} polynomial optimization problems that can be relaxed as…
Coordinated multi-robot motion planning at intersections is key for safe mobility in roads, factories and warehouses. The rapidly exploring random tree (RRT) algorithms are popular in multi-robot motion planning. However, generating the…
This paper presents a novel multi-robot coverage path planning (CPP) algorithm - aka SCoPP - that provides a time-efficient solution, with workload balanced plans for each robot in a multi-robot system, based on their initial states. This…
This paper presents a novel method for accelerating path-planning tasks in unknown scenes with obstacles by utilizing Wasserstein Generative Adversarial Networks (WGANs) with Gradient Penalty (GP) to approximate the distribution of…
The implementation of optimization-based motion coordination approaches in real world multi-agent systems remains challenging due to their high computational complexity and potential deadlocks. This paper presents a distributed model…
Online generation of collision free trajectories is of prime importance for autonomous navigation. Dynamic environments, robot motion and sensing uncertainties adds further challenges to collision avoidance systems. This paper presents an…
Fast and efficient motion planning algorithms are crucial for many state-of-the-art robotics applications such as self-driving cars. Existing motion planning methods become ineffective as their computational complexity increases…
Over the years, the separate fields of motion planning, mapping, and human trajectory prediction have advanced considerably. However, the literature is still sparse in providing practical frameworks that enable mobile manipulators to…
We deal with the problem of planning collision-free trajectories for robots operating in a shared space. Given the start and destination position for each of the robots, the task is to find trajectories for all robots that reach their…
We consider the problem of planning a collision-free path for a high-dimensional robot. Specifically, we suggest a planning framework where a motion-planning algorithm can obtain guidance from a user. In contrast to existing approaches that…
Estimating collision probabilities between robots and environmental obstacles or other moving agents is crucial to ensure safety during path planning. This is an important building block of modern planning algorithms in many application…