Related papers: DWPP: Dynamic Window Pure Pursuit Considering Velo…
In this paper, we consider the multi-robot path execution problem where a group of robots move on predefined paths from their initial to target positions while avoiding collisions and deadlocks in the face of asynchrony. We first show that…
Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…
Robot person following (RPF) is a core capability in human-robot interaction, enabling robots to assist users in daily activities, collaborative work, and other service scenarios. However, achieving practical RPF remains challenging due to…
Existing Global Path Planning (GPP) algorithms predominantly presume planning in static environments. This assumption immensely limits their applications to Unmanned Surface Vehicles (USVs) that typically navigate in dynamic environments.…
There is a growing demand for autonomous mobile robots capable of navigating unstructured agricultural environments. Tasks such as weed control in meadows require efficient path planning through an unordered set of coordinates while…
This paper proposes a concise, elegant, and robust pipeline to estimate smooth camera trajectories and obtain dense point clouds for casual videos in the wild. Traditional frameworks, such as ParticleSfM~\cite{zhao2022particlesfm}, address…
We study stochastic motion planning problems which involve a controlled process, with possibly discontinuous sample paths, visiting certain subsets of the state-space while avoiding others in a sequential fashion. For this purpose, we first…
Deploying autonomous robots in crowded indoor environments usually requires them to have accurate dynamic obstacle perception. Although plenty of previous works in the autonomous driving field have investigated the 3D object detection…
Indirect trajectory optimization methods such as Differential Dynamic Programming (DDP) have found considerable success when only planning under dynamic feasibility constraints. Meanwhile, nonlinear programming (NLP) has been the…
The classic problem of constrained pathfinding is a well-studied, yet challenging, topic in AI with a broad range of applications in various areas such as communication and transportation. The Weight Constrained Shortest Path Problem…
Path-planning for autonomous vehicles in threat-laden environments is a fundamental challenge. While traditional optimal control methods can find ideal paths, the computational time is often too slow for real-time decision-making. To solve…
In recent decades, global path planning of robot has seen significant advancements. Both heuristic search-based methods and probability sampling-based methods have shown capabilities to find feasible solutions in complex scenarios. However,…
Differential Dynamic Programming (DDP) has become a well established method for unconstrained trajectory optimization. Despite its several applications in robotics and controls however, a widely successful constrained version of the…
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…
The autonomous driving industry is experiencing unprecedented growth, driven by rapid advancements in technology and increasing demand for safer, more efficient transportation. At the heart of this revolution are two critical factors:…
Spacecraft relative motion planning is concerned with the design and execution of maneuvers relative to a nominal target. These types of maneuvers are frequently utilized in missions such as rendezvous and docking, satellite inspection and…
Trajectory following is one of the complicated control problems when its dynamics are nonlinear, stochastic and include a large number of parameters. The problem has significant difficulties including a large number of trials required for…
Multi-object tracking (MOT) is a challenging practical problem for vision based applications. Most recent approaches for MOT use precomputed detections from models such as Faster RCNN, performing fine-tuning of bounding boxes and…
Gathering visual information effectively to monitor known environments is a key challenge in robotics. To be as efficient as human surveyors, robotic systems must continuously collect observational data required to complete their survey…
Differential dynamic programming (DDP) is a direct single shooting method for trajectory optimization. Its efficiency derives from the exploitation of temporal structure (inherent to optimal control problems) and explicit…