Related papers: Ergodic Trajectory Planning with Dynamic Sensor Fo…
Efficient navigation in dynamic environments requires anticipating how motion patterns evolve beyond the robot's immediate perceptual range, enabling preemptive rather than purely reactive planning in crowded scenes. Maps of Dynamics (MoDs)…
This research addresses the challenge of executing multi-UAV survey missions over diverse terrains characterized by varying elevations. The approach integrates advanced two-dimensional ergodic search technique with model predictive control…
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…
An innovative sort of mobility platform that can both drive and fly is the air-ground robot. The need for an agile flight cannot be satisfied by traditional path planning techniques for air-ground robots. Prior studies had mostly focused on…
In this paper we study the problem of tracking an object moving randomly through a network of wireless sensors. Our objective is to devise strategies for scheduling the sensors to optimize the tradeoff between tracking performance and…
We present for the first time a general 6DoF trajectory planning method that can be used in real-time image guided radiation therapy procedures for robotic stabilization of dynamically moving tumor targets. As the radiation beam is always…
As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…
Ergodic coverage effectively generates exploratory behaviors for embodied agents by aligning the spatial distribution of the agent's trajectory with a target distribution, where the difference between these two distributions is measured by…
Trajectory optimization methods for motion planning attempt to generate trajectories that minimize a suitable objective function. Such methods efficiently find solutions even for high degree-of-freedom robots. However, a globally optimal…
Multi-object tracking (MOT) enables mobile robots to perform well-informed motion planning and navigation by localizing surrounding objects in 3D space and time. Existing methods rely on depth sensors (e.g., LiDAR) to detect and track…
We present a sampling-based kinodynamic planning framework for a bipedal robot in complex environments. Unlike other footstep planner which typically plan footstep locations and the biped dynamics in separate steps, we handle both…
Safe and high-speed navigation is a key enabling capability for real world deployment of robotic systems. A significant limitation of existing approaches is the computational bottleneck associated with explicit mapping and the limited field…
We provide the first step toward developing a hierarchical control-estimation framework to actively plan robot trajectories for anomaly detection in confined spaces. The space is represented globally using a directed region graph, where a…
Learning-based methods have shown promising performance for accelerating motion planning, but mostly in the setting of static environments. For the more challenging problem of planning in dynamic environments, such as multi-arm assembly…
In this paper, we address the problem of forecasting the trajectory of an egocentric camera wearer (ego-person) in crowded spaces. The trajectory forecasting ability learned from the data of different camera wearers walking around in the…
Numerical optimization has become a popular approach to plan smooth motion trajectories for robots. However, when sharing space with humans, balancing properly safety, comfort and efficiency still remains challenging. This is notably the…
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…
On construction sites, progress must be monitored continuously to ensure that the current state corresponds to the planned state in order to increase efficiency, safety and detect construction defects at an early stage. Autonomous mobile…
We consider the problem of an autonomous agent equipped with multiple sensors, each with different sensing precision and energy costs. The agent's goal is to explore the environment and gather information subject to its resource constraints…
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…