Related papers: A Rapid Iterative Trajectory Planning Method for A…
Simultaneous multi vibroseis vehicle operations are central to modern land seismic exploration and can be modeled as a Vehicle Routing Problem (VRP). A critical distinction from classical VRPs, however, is the need for a minimum start-time…
Gradient-based trajectory optimization (GTO) has gained wide popularity for quadrotor trajectory replanning. However, it suffers from local minima, which is not only fatal to safety but also unfavorable for smooth navigation. In this paper,…
In many industrial robotics applications, such as spot-welding, spray-painting or drilling, the robot is required to visit successively multiple targets. The robot travel time among the targets is a significant component of the overall…
Learning-based motion planning can quickly generate near-optimal trajectories. However, it often requires either large training datasets or costly collection of human demonstrations. This work proposes an alternative approach that quickly…
Sequential decision problems in applications such as manipulation in warehouses, multi-step meal preparation, and routing in autonomous vehicle networks often involve reasoning about uncertainty, planning over discrete modes as well as…
Avoiding hybrid obstacles in unknown scenarios with an efficient flight strategy is a key challenge for unmanned aerial vehicle applications. In this paper, we introduce a more robust technique to distinguish and track dynamic obstacles…
With the incremental development of robotic platforms to automate the manual processes, path planning has become a critical domain with or without the knowledge of the indoor and outdoor environment. The algorithms can be intelligent or…
Autonomous driving vehicles aim to free the hands of vehicle operators, helping them to drive easier and faster, meanwhile, improving the safety of driving on the highway or in complex scenarios. Automated driving systems (ADS) are…
Reachability-based Trajectory Design (RTD) is a provably safe, real-time trajectory planning framework that combines offline reachable-set computation with online trajectory optimization. However, standard RTD implementations suffer from…
Autonomous robot navigation systems often rely on hierarchical planning, where global planners compute collision-free paths without considering dynamics, and local planners enforce dynamics constraints to produce executable commands. This…
Traffic management in a city has become a major problem due to the increasing number of vehicles on roads. Intelligent Transportation System (ITS) can help the city traffic managers to tackle the problem by providing accurate traffic…
This paper presents a free space trajectory optimization algorithm of autonomous driving vehicle, which decouples the collision-free trajectory planning problem into a Dual-Loop Iterative Anchoring Path Smoothing (DL-IAPS) and a Piece-wise…
Existing trajectory planning methods are struggling to handle the issue of autonomous track swinging during navigation, resulting in significant errors when reaching the destination. In this article, we address autonomous trajectory…
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…
Human-robot collaborative applications require scene representations that are kept up-to-date and facilitate safe motions in dynamic scenes. In this letter, we present an interactive distance field mapping and planning (IDMP) framework that…
We present RAPPIDS: a novel collision checking and planning algorithm for multicopters that is capable of quickly finding local collision-free trajectories given a single depth image from an onboard camera. The primary contribution of this…
Recently, the applications of the methodologies of Reinforcement Learning (RL) to NP-Hard Combinatorial optimization problems have become a popular topic. This is essentially due to the nature of the traditional combinatorial algorithms,…
Unstructured environments such as mountains, caves, construction sites, or disaster areas are challenging for autonomous navigation because of terrain irregularities. In particular, it is crucial to plan a path to avoid risky terrain and…
A rich vehicle routing problem is considered, allowing multiple trips of heterogeneous vehicles stationed at geographically distributed vehicle depots having access to different modes of transportation. The problem arises from the…
Autonomous vehicles must navigate dynamically uncertain environments while balancing safety and efficiency. This challenge is exacerbated by unpredictable human-driven vehicle (HV) behaviors and perception inaccuracies, necessitating…