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We study a generalized motion planning problem involving multiple autonomous robots navigating in a $d$-dimensional Euclidean space in the presence of a set of obstacles whose positions are unknown a priori. Each robot is required to visit…

General positivity constraints linking various powers of observables in energy eigenstates can be used to sharply locate acceptable regions for the energy eigenvalues, provided that efficient recursive methods are available to calculate the…

This paper presents a novel method to generate spatial constraints for motion planning in dynamic environments. Motion planning methods for autonomous driving and mobile robots typically need to rely on the spatial constraints imposed by a…

In many robotics applications, multiple robots are working in a shared workspace to complete a set of tasks as fast as possible. Such settings can be treated as multi-modal multi-robot multi-goal path planning problems, where each robot has…

Autonomous exploration is a complex task where the robot moves through an unknown environment with the goal of mapping it. The desired output of such a process is a sequence of paths that efficiently and safely minimise the uncertainty of…

Machine learning has achieved remarkable success over the past couple of decades, often attributed to a combination of algorithmic innovations and the availability of high-quality data available at scale. However, a third critical component…

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…

In both industrial and service domains, a central benefit of the use of robots is their ability to quickly and reliably execute repetitive tasks. However, even relatively simple peg-in-hole tasks are typically subject to stochastic…

Trajectory generation in confined environment is crucial for wide adoption of intelligent robot manipulators. In this paper, we propose a novel motion planning approach for redundant robot arms that uses a hybrid optimization framework to…

Robots often have to operate in discrete partially observable worlds, where the states of world are only observable at runtime. To react to different world states, robots need contingencies. However, computing contingencies is costly and…

We study the problem of collision-free humanoid traversal in cluttered indoor scenes, such as hurdling over objects scattered on the floor, crouching under low-hanging obstacles, or squeezing through narrow passages. To achieve this goal,…

Obstacle avoidance of polytopic obstacles by polytopic robots is a challenging problem in optimization-based control and trajectory planning. Many existing methods rely on smooth geometric approximations, such as hyperspheres or ellipsoids,…

Many robots are not equipped with a manipulator and many objects are not suitable for prehensile manipulation (such as large boxes and cylinders). In these cases, pushing is a simple yet effective non-prehensile skill for robots to interact…

Vector field guided path following (VF-PF) algorithms are fundamental in robot navigation tasks, but may not deliver the desirable performance when robots encounter singular points where the vector field becomes zero. The existence of…

In this paper, we consider the problem of generating inspection paths for robots. These paths should allow an attached measurement device to perform high-quality measurements. We formally show that generating robot paths, while maximizing…

This paper brings together the concepts of navigation transformation and harmonic functions to form navigation functions that are correct-by-construction in the sense that no tuning is required. The form of the navigation function is…

Path planning for multiple robots (MRPP) represents a task of finding non-colliding paths for robots through which they can navigate from their initial positions to specified goal positions. The problem is usually modeled using undirected…

Aerial transportation robots using suspended cables have emerged as versatile platforms for disaster response and rescue operations. To maximize the capabilities of these systems, robots need to aggressively fly through tightly constrained…

This paper proposes a solution to the problem of smooth path planning for mobile robots in dynamic and unknown environments. A novel concept of Time-Warped Grid is introduced to predict the pose of obstacles in the environment and avoid…

Essential tasks in autonomous driving includes environment perception, detection and tracking, path planning and action control. This paper focus on path planning, which is one of the challenging task as it needs to find optimal path in…