Related papers: DW-A-PRM: A Dynamic Weighted Planner
A new path planning method for Mobile Robots (MR) has been developed and implemented. On the one hand, based on the shortest path from the start point to the goal point, this path planner can choose the best moving directions of the MR,…
Robots navigating dynamic, cluttered, and semantically complex environments must integrate perception, symbolic reasoning, and spatial planning to generalize across diverse layouts and object categories. Existing methods often rely on…
Most, if not all, robot navigation systems employ a decomposed planning framework that includes global and local planning. To trade-off onboard computation and plan quality, current systems have to limit all robot dynamics considerations…
Balancing the trade-off between safety and efficiency is of significant importance for path planning under uncertainty. Many risk-aware path planners have been developed to explicitly limit the probability of collision to an acceptable…
In this paper, we deal with the problem of full-body path planning for walking robots. The state of walking robots is defined in multi-dimensional space. Path planning requires defining the path of the feet and the robot's body. Moreover,…
Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…
Hierarchical, multi-resolution volumetric mapping approaches are widely used to represent large and complex environments as they can efficiently capture their occupancy and connectivity information. Yet widely used path planning methods…
Robots have become increasingly prevalent in dynamic and crowded environments such as airports and shopping malls. In these scenarios, the critical challenges for robot navigation are reliability and timely arrival at predetermined…
In this paper, we propose a new method called Clustering Topological PRM (CTopPRM) for finding multiple homotopically distinct paths in 3D cluttered environments. Finding such distinct paths, e.g., going around an obstacle from a different…
We present an integrated Task-Motion Planning framework for robot navigation in belief space. Autonomous robots operating in real world complex scenarios require planning in the discrete (task) space and the continuous (motion) space. To…
Path tracking system plays a key technology in autonomous driving. The system should be driven accurately along the lane and be careful not to cause any inconvenience to passengers. To address such tasks, this paper proposes hybrid tracker…
This paper improves the performance of RRT$^*$-like sampling-based path planners by combining admissible informed sampling and local sampling (i.e., sampling the neighborhood of the current solution). An adaptive strategy regulates the…
Autonomous motion planning is challenging in multi-obstacle environments due to nonconvex collision avoidance constraints. Directly applying numerical solvers to these nonconvex formulations fails to exploit the constraint structures,…
In this paper we present a method for automatically planning optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition system. The…
Effective path planning is a pivotal challenge across various domains, from robotics to logistics and beyond. This research is centred on the development and evaluation of the Dynamic Curvature-Constrained Path Planning Algorithm (DCCPPA)…
Transportation occupies one-third of the amount in the logistics costs, and accordingly transportation systems largely influence the performance of the logistics system. This work presents an adaptive data-driven innovative modular approach…
This paper presents an integrated motion planning system for autonomous vehicle (AV) parking in the presence of other moving vehicles. The proposed system includes 1) a hybrid environment predictor that predicts the motions of the…
This paper considers a trajectory planning problem for a robot navigating complex terrains, which arises in applications ranging from autonomous mining vehicles to planetary rovers. The problem seeks to find a low-cost dynamically feasible…
Traditional vehicle routing algorithms do not consider the changing nature of traffic. While implementations of Dijkstra's algorithm with varying weights exist, the weights are often changed after the outcome of algorithm is executed, which…
In this paper, we propose a path re-planning algorithm that makes robots able to work in scenarios with moving obstacles. The algorithm switches between a set of pre-computed paths to avoid collisions with moving obstacles. It also improves…