Related papers: A Genetic Approach to Gradient-Free Kinodynamic Pl…
Path Planning methods for autonomously controlling swarms of unmanned aerial vehicles (UAVs) are gaining momentum due to their operational advantages. An increasing number of scenarios now require autonomous control of multiple UAVs, as…
Real-time kinodynamic trajectory planning in dynamic environments is critical yet challenging for autonomous driving. In this letter, we propose an efficient trajectory planning system for autonomous driving in complex dynamic scenarios…
We explore path planning followed by kinodynamic smoothing while ensuring the vehicle dynamics feasibility for MAVs. We have chosen a geometrically based motion planning technique \textquotedblleft RRT*\textquotedblright\; for this purpose.…
In real-time trajectory planning for unmanned vehicles, on-board sensors, radars and other instruments are used to collect information on possible obstacles to be avoided and pathways to be followed. Since, in practice, observations of the…
In this paper, a novel knowledge-based genetic algorithm for path planning of a mobile robot in unstructured complex environments is proposed, where five problem-specific operators are developed for efficient robot path planning. The…
Kinodynamic motion planning for non-holomonic mobile robots is a challenging problem that is lacking a universal solution. One of the computationally efficient ways to solve it is to build a geometric path first and then transform this path…
In this paper, we propose a lightweight yet effective Topology Guided Kinodynamic planner (TGK-Planner) for quadrotor aggressive flights with limited onboard computing resources. The proposed system follows the traditional hierarchical…
This work casts the kinodynamic planning problem for car-like vehicles as an optimization task to compute a minimum-time trajectory and its associated velocity profile, subject to boundary conditions on velocity, acceleration, and steering.…
This work proposes a kinodynamic motion planning technique for collaborative object transportation by multiple mobile manipulators in dynamic environments. A global path planner computes a linear piecewise path from start to goal. A novel…
An innovative strategy for the optimal design of planar frames able to resist to seismic excitations is here proposed. The procedure is based on genetic algorithms (GA) which are performed according to a nested structure suitable to be…
The genetic algorithm is an optimization procedure motivated by biological evolution and is successfully applied to optimization problems in different areas. A statistical mechanics model for its dynamics is proposed based on the…
To safely traverse non-flat terrain, robots must account for the influence of terrain shape in their planned motions. Terrain-aware motion planners use an estimate of the vehicle roll and pitch as a function of pose, vehicle suspension, and…
In this article we present a unified framework based on receding horizon techniques that can be used to design the three tasks (guidance, navigation and path-planning) which are involved in the autonomy of unmanned vehicles. This tasks are…
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 free…
Planning a path for a nonholonomic robot is a challenging topic in motion planning and it becomes more difficult when the desired path contains narrow passages. This kind of scenario can arise, for instance, when quadcopters search a…
Genetic Algorithms (GAs) are known for their efficiency in solving combinatorial optimization problems, thanks to their ability to explore diverse solution spaces, handle various representations, exploit parallelism, preserve good…
A novel framework is proposed for quality of experience (QoE)-driven deployment and dynamic movement of multiple unmanned aerial vehicles (UAVs). The problem of joint non-convex three-dimensional (3D) deployment and dynamic movement of the…
Genetic algorithms (GAs) have a long history of over four decades. GAs are adaptive heuristic search algorithms that provide solutions for optimization and search problems. The GA derives expression from the biological terminology of…
In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…
Autonomous navigation of ground robots on uneven terrain is being considered in more and more tasks. However, uneven terrain will bring two problems to motion planning: how to assess the traversability of the terrain and how to cope with…