Related papers: A Real-Time Framework for Intermediate Map Constru…
Due to the vastly different energy consumption between up-slope and down-slope, a path with the shortest length on a complex off-road terrain environment (2.5D map) is not always the path with the least energy consumption. For any…
This paper presents a novel data-driven approach to vehicle motion planning and control in off-road driving scenarios. For autonomous off-road driving, environmental conditions impact terrain traversability as a function of weather, surface…
In this paper, a risk map-based path planning algorithm is introduced for autonomous vehicles. Multivariate B-splines are implemented to generate a risk map, which measures the risk of colliding with different objects. In the following…
Real-time kinodynamic trajectory planning in dynamic environments is critical yet challenging for autonomous driving. In this letter, we propose an efficient trajectory planning system for autonomous driving in complex dynamic scenarios…
Planning a safe and feasible trajectory for autonomous vehicles in real-time by fully utilizing perceptual information in complex urban environments is challenging. In this paper, we propose a spatio-temporal trajectory planning method…
A key challenge in fast ground robot navigation in 3D terrain is balancing robot speed and safety. Recent work has shown that 2.5D maps (2D representations with additional 3D information) are ideal for real-time safe and fast planning.…
Autonomous navigation based on precise localization has been widely developed in both academic research and practical applications. The high demand for localization accuracy has been essential for safe robot planing and navigation while it…
Large environments are challenging for path planning algorithms as the size of the configuration space increases. Furthermore, if the environment is mainly unexplored, large amounts of the path are planned through unknown areas. Hence, a…
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…
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…
This paper proposes a novel and efficient optimization-based method for generating near time-optimal trajectories for holonomic vehicles navigating through complex but structured environments. The approach aims to solve the problem of…
We present a planning framework designed for humanoid navigation over challenging terrain. This framework is designed to plan a traversable, smooth, and collision-free path using a 2.5D height map. The planner is comprised of two stages.…
Autonomous systems, including robots and drones, face significant challenges when navigating through dynamic environments, particularly within urban settings where obstacles, fluctuating traffic, and pedestrian activity are constantly…
Path planning for high-speed unmanned surface vehicles requires more complex solutions to reduce sailing time and save energy. This article proposes a new predictive artificial potential field that incorporates time information and…
Today's autonomous vehicles rely extensively on high-definition 3D maps to navigate the environment. While this approach works well when these maps are completely up-to-date, safe autonomous vehicles must be able to corroborate the map's…
High-definition (HD) maps offer extensive and accurate environmental information about the driving scene, making them a crucial and essential element for planning within autonomous driving systems. To avoid extensive efforts from manual…
We consider how to directly extract a road map (also known as a topological representation) of an initially-unknown 2-dimensional environment via an online procedure that robustly computes a retraction of its boundaries. In this article, we…
This paper addresses the problem of optimizing communicated information among heterogeneous, resource-aware robot teams to facilitate their navigation. In such operations, a mobile robot compresses its local map to assist another robot in…
Planning in environments with moving obstacles remains a significant challenge in robotics. While many works focus on navigation and path planning in obstacle-dense spaces, traversing such congested regions is often avoidable by selecting…
Urban environments offer a challenging scenario for autonomous driving. Globally localizing information, such as a GPS signal, can be unreliable due to signal shadowing and multipath errors. Detailed a priori maps of the environment with…