Related papers: Phasing Through the Flames: Rapid Motion Planning …
Generating optimal trajectories for high-dimensional robotic systems in a time-efficient manner while adhering to constraints is a challenging task. This paper introduces PHLAME, which applies pseudospectral collocation and spatial vector…
We propose a constrained Affine Geometric Heat Flow (AGHF) method that evolves so as to suppress the dynamics gaps associated with inadmissible control directions. AGHF provides a unified framework applicable to a wide range of motion…
We present a new method for motion planning for control systems. The method aims to provide a natural computational framework in which a broad class of motion planning problems can be cast; including problems with holonomic and…
This work presents an efficient framework to generate a motion plan of a robot with high degrees of freedom (e.g., a humanoid robot). High-dimensionality of the robot configuration space often leads to difficulties in utilizing the…
In this work, we propose a trajectory generation method for robotic systems with contact force constraint based on optimal control and reachability analysis. Normally, the dynamics and constraints of the contact-constrained robot are…
Navigating an arbitrary-shaped ground robot safely in cluttered environments remains a challenging problem. The existing trajectory planners that account for the robot's physical geometry severely suffer from the intractable runtime. To…
This paper focuses on automatic guided vehicle (AGV) trajectory planning in the presence of moving obstacles with known but complicated trajectories. In order to achieve good solution precision, optimality and unification, the concerned…
High dynamic jump motions are challenging tasks for humanoid robots to achieve environment adaptation and obstacle crossing. The trajectory optimization is a practical method to achieve high-dynamic and explosive jumping. This paper…
As robotic systems continue to address emerging issues in areas such as logistics, mobility, manufacturing, and disaster response, it is increasingly important to rapidly generate safe and energy-efficient trajectories. In this article, we…
Most existing motion planning algorithms assume that a map (of some quality) is fully determined prior to generating a motion plan. In many emerging applications of robotics, e.g., fast-moving agile aerial robots with constrained embedded…
Robotic Additive Manufacturing (AM) has emerged as a scalable and customizable construction method in the last decade. However, current AM design methods rely on pre-conceived (A priori) toolpath of the structure, often developed via…
Performing trajectory design for humanoid robots with high degrees of freedom is computationally challenging. The trajectory design process also often involves carefully selecting various hyperparameters and requires a good initial guess…
This paper considers a generalization of the Path Finding (PF) problem with refuelling constraints referred to as the Gas Station Problem (GSP). Similar to PF, given a graph where vertices are gas stations with known fuel prices, and edge…
Path planning in the presence of dynamic obstacles is a challenging problem due to the added time dimension in search space. In approaches that ignore the time dimension and treat dynamic obstacles as static, frequent re-planning is…
Artificial intelligence (AI) for fluid mechanics has become attractive topic. High-fidelity data is one of most critical issues for the successful applications of AI in fluid mechanics, however, it is expensively obtained or even…
Micro aerial vehicles (MAVs), are frequently used for exploration, examination, and surveillance during search and rescue missions. Manually piloting these robots under stressful conditions provokes pilot errors and can result in crashes…
In this paper we present a method for automatically generating optimal robot trajectories satisfying high level mission specifications. The motion of the robot in the environment is modeled as a general transition system, enhanced with…
Motion planning in an autonomous agent is responsible for providing smooth, safe and efficient navigation. Many solutions for dealing this problem have been offered, one of which is, Artificial Potential Fields (APF). APF is a simple and…
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…
The computation of time-optimal velocity profiles along prescribed paths, subject to generic acceleration constraints, is a crucial problem in robot trajectory planning, with particular relevance to autonomous racing. However, the existing…