Related papers: Kinodynamic Motion Planning for Mobile Robot Navig…
Locomotion for legged robots poses considerable challenges when confronted by obstacles and adverse environments. Footstep planners are typically only designed for one mode of locomotion, but traversing unfavorable environments may require…
Ground robots navigating in complex, dynamic environments must compute collision-free trajectories to avoid obstacles safely and efficiently. Nonconvex optimization is a popular method to compute a trajectory in real-time. However, these…
Obstacle avoidance and path planning are essential for guiding unmanned ground vehicles (UGVs) through environments that are densely populated with dynamic obstacles. This paper develops a novel approach that combines tangentbased path…
This document is a thesis on the subject of single-agent on-line path planning in continuous,unpredictable and highly dynamic environments. The problem is finding and traversing a collision-free path for a holonomic robot, without…
For autonomous mobile robots, uncertainties in the environment and system model can lead to failure in the motion planning pipeline, resulting in potential collisions. In order to achieve a high level of robust autonomy, these robots should…
We study the problem of motion planning for a collection of $n$ labeled unit disc robots in a polygonal environment. We assume that the robots have revolving areas around their start and final positions: that each start and each final is…
Locomotion for legged robots poses considerable challenges when confronted by obstacles and adverse environments. Footstep planners are typically only designed for one mode of locomotion, but traversing unfavorable environments may require…
Robotic navigation has been approached as a problem of 3D reconstruction and planning, as well as an end-to-end learning problem. However, long-range navigation requires both planning and reasoning about local traversability, as well as…
This paper introduces a graph-based, potential-guided method for path planning problems in unknown environments, where obstacles are unknown until the robots are in close proximity to the obstacle locations. Inspired by optimal transport…
This paper tackles the problem of integrated task and kinodynamic motion planning in uncertain environments. We consider a robot with nonlinear dynamics tasked with a Linear Temporal Logic over finite traces ($\ltlf$) specification…
We consider a problem called task ordering with path uncertainty (TOP-U) where multiple robots are provided with a set of task locations to visit in a bounded environment, but the length of the path between a pair of task locations is…
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-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…
When mobile robots maneuver near people, they run the risk of rudely blocking their paths; but not all people behave the same around robots. People that have not noticed the robot are the most difficult to predict. This paper investigates…
It is necessary for a mobile robot to be able to efficiently plan a path from its starting, or current, location to a desired goal location. This is a trivial task when the environment is static. However, the operational environment of the…
Path planning in obstacle-dense environments is a key challenge in robotics, and depends on inferring scene attributes and associated uncertainties. We present a multiple-hypothesis path planner designed to navigate complex environments…
Despite recent progress on trajectory planning of multiple robots and path planning of a single tethered robot, planning of multiple tethered robots to reach their individual targets without entanglements remains a challenging problem. In…
In applications such as search and rescue or disaster relief, heterogeneous multi-robot systems (MRS) can provide significant advantages for complex objectives that require a suite of capabilities. However, within these application spaces,…
If we give a robot the task of moving an object from its current position to another location in an unknown environment, the robot must explore the map, identify all types of obstacles, and then determine the best route to complete the…
Autonomous robots are increasingly deployed for long-term information-gathering tasks, which pose two key challenges: planning informative trajectories in environments that evolve across space and time, and ensuring persistent operation…