Related papers: Improved Obstacle Avoidance for Autonomous Robots …
The conventional Artificial Potential Field (APF) is fundamentally limited by the local minima issue and its inability to account for the kinematics of moving obstacles. This paper addresses the critical challenge of autonomous collision…
Automated Guided Vehicles (AGVs) are essential in various industries for their efficiency and adaptability. However, planning trajectories for AGVs in obstacle-dense, unstructured environments presents significant challenges due to the…
Trajectory planning in dense, interactive traffic scenarios presents significant challenges for autonomous vehicles, primarily due to the uncertainty of human driver behavior and the non-convex nature of collision avoidance constraints.…
At present, in most warehouse environments, the accumulation of goods is complex, and the management personnel in the control of goods at the same time with the warehouse mobile robot trajectory interaction, the traditional mobile robot can…
Controlling autonomous vehicles at their handling limits is a significant challenge, particularly for electric vehicles with active four wheel drive (A4WD) systems offering independent wheel torque control. While traditional Vehicle…
Development of navigation algorithms is essential for the successful deployment of robots in rapidly changing hazardous environments for which prior knowledge of configuration is often limited or unavailable. Use of traditional…
To operate in open-ended environments where humans interact in complex, diverse ways, autonomous robots must learn to predict their behaviour, especially when that behavior is potentially dangerous to other agents or to the robot. However,…
Obstacle avoidance for small unmanned aircraft is vital for the safety of future urban air mobility (UAM) and Unmanned Aircraft System (UAS) Traffic Management (UTM). There are many techniques for real-time robust drone guidance, but many…
Applying reinforcement learning to autonomous driving has garnered widespread attention. However, classical reinforcement learning methods optimize policies by maximizing expected rewards but lack sufficient safety considerations, often…
We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors…
The rapid development of robotics has benefited by more and more people putting their attention to it. With the demand for robots is growing for the purpose of fulfilling tasks instead of humans, how to control the robot better is becoming…
Dynamic obstacle avoidance (DOA) for unmanned aerial vehicles (UAVs) requires fast reaction under limited onboard resources. We introduce the distributionally robust acceleration control barrier function (DR-ACBF) as an efficient collision…
In this paper, we developed a new navigation system, which detects obstacles in a sliding window with an adaptive threshold clustering algorithm, classifies the detected obstacles with a decision tree, heuristically predicts potential…
Safe and efficient collaboration among multiple robots in unstructured environments is increasingly critical in the era of Industry 4.0. However, achieving robust and autonomous collaboration among humans and other robots requires modern…
We consider the problem of safe real-time navigation of a robot in a dynamic environment with moving obstacles of arbitrary smooth geometries and input saturation constraints. We assume that the robot detects and models nearby obstacle…
This paper presents algorithms to navigate and avoid obstacles for an in-door autonomous mobile robot. A laser range finder is used to obtain 3D images of the environment. A new algorithm, namely 3D-to-2D image pressure and barriers…
Many practical applications of robotics require systems that can operate safely despite uncertainty. In the context of motion planning, two types of uncertainty are particularly important when planning safe robot trajectories. The first is…
In this paper, an algorithm for Unmanned Aircraft Systems Traffic Management (UTM) for a finite number of unmanned aerial vehicles (UAVs) is proposed. This algorithm is developed by combining the Rapidly-Exploring Random Trees (RRT) and…
Road traffic accidents are a leading cause of fatalities worldwide. In the US, human error causes 94% of crashes, resulting in excess of 7,000 pedestrian fatalities and $500 billion in costs annually. Autonomous Vehicles (AVs) with…
This research proposed an intelligent obstacle avoidance algorithm to navigate an autonomous mobile robot. The presented Intelligent Bug Algorithm (IBA) over performs and reaches the goal in relatively less time as compared to existing Bug…