Related papers: Risk-Aware Obstacle Avoidance Algorithm for Real-T…
An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…
As terrestrial resources become increasingly depleted, the demand for deep-sea resource exploration has intensified. However, the extreme conditions in the deep-sea environment pose significant challenges for underwater operations,…
Autonomous navigation of Unmanned Surface Vehicles (USV) in marine environments with current flows is challenging, and few prior works have addressed the sensorbased navigation problem in such environments under no prior knowledge of the…
This paper focuses on the trajectory optimization of an underwater suspended robotic system comprising an uncrewed surface vessel (USV) and an uncrewed underwater vehicle (UUV) for autonomous litter collection. The key challenge lies in the…
We propose a risk-aware crash mitigation system (RCMS), to augment any existing motion planner (MP), that enables an autonomous vehicle to perform evasive maneuvers in high-risk situations and minimize the severity of collision if a crash…
Popular navigation stacks implemented on top of open-source frameworks such as ROS(Robot Operating System) and ROS2 represent the robot workspace using a discretized 2D occupancy grid. This method, while requiring less computation,…
Robot path planning plays a pivotal role in enabling autonomous systems to navigate safely and efficiently in complex and uncertain environments. Despite extensive research on classical graph-based methods and sampling-based planners,…
We propose a novel receding horizon planner for an autonomous surface vehicle (ASV) performing path planning in urban waterways. Feasible paths are found by repeatedly generating and searching a graph reflecting the obstacles observed in…
This paper explores the Navigation Among Movable Obstacles (NAMO) problem and proposes joint path and push planning: which path to take and in what direction the obstacles should be pushed at, given a start and goal position. We present a…
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…
With the rapid development of the e-commerce industry, the logistics network is experiencing unprecedented pressure. The traditional static routing strategy most time cannot tolerate the traffic congestion and fluctuating retail demand. In…
Occlusion-aware prediction remains a critical challenge in autonomous driving due to the inherent uncertainty of unobserved regions. Existing approaches either overestimate risk based on reachable states or struggle to predict accurate…
For real-world navigation, it is important to endow robots with the capabilities to navigate safely and efficiently in a complex environment with both dynamic and non-convex static obstacles. However, achieving path-finding in non-convex…
Robust motion planning entails computing a global motion plan that is safe under all possible uncertainty realizations, be it in the system dynamics, the robot's initial position, or with respect to external disturbances. Current approaches…
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…
Accurate accident anticipation is essential for enhancing the safety of autonomous vehicles (AVs). However, existing methods often assume ideal conditions, overlooking challenges such as sensor failures, environmental disturbances, and data…
We consider a path-planning scenario for a mobile robot traveling in a configuration space with obstacles under the presence of stochastic disturbances. A novel path length metric is proposed on the uncertain configuration space and then…
Autonomous navigation in mobile robots, reliant on perception and planning, faces major hurdles in large-scale, complex environments. These include heavy computational burdens for mapping, sensor occlusion failures for UAVs, and traversal…
Exploration of unknown, unstructured environments, such as in search and rescue, cave exploration, and planetary missions,presents significant challenges due to their unpredictable nature. This unpredictability can lead to inefficient path…
In this work, we present a novel algorithm to perform spill-free handling of open-top liquid-filled containers that operates in cluttered environments. By allowing liquid-filled containers to be tilted at higher angles and enabling motion…