Related papers: Smooth trajectory generation and hybrid B-splines-…
Abstract: we present a framework for robust autonomous driving motion planning system in urban environments which includes trajectory refinement, trajectory interpolation, avoidance of static and dynamic obstacles, and trajectory tracking.…
A novel decentralised trajectory generation algorithm for Multi Agent systems is presented. Multi-robot systems have the capacity to transform lives in a variety of fields. But, trajectory generation for multi-robot systems is still in its…
Preliminary mission design requires an efficient and accurate approximation to the low-thrust rendezvous trajectories, which might be generally three-dimensional and involve multiple revolutions. In this paper, a new shaping method using…
This study presents a spiral-based complete coverage strategy for ball-end milling on freeform surfaces, utilizing conformal slit mapping to generate milling trajectories that are more compact, smoother, and evenly distributed when…
The most important aim in tool path generation methods is to increase the machining efficiency by minimizing the total length of tool paths while the error is kept under a prescribed tolerance. This can be achieved by determining the moving…
In this paper we propose a method to improve the accuracy of trajectory optimization for dynamic robots with intermittent contact by using orthogonal collocation. Until recently, most trajectory optimization methods for systems with…
In this paper, we extend a famous motion planning approach GPMP2 to multi-robot cases, yielding a novel centralized trajectory generation method for the multi-robot formation. A sparse Gaussian Process model is employed to represent the…
To perform autonomous driving maneuvers, such as parallel or perpendicular parking, a vehicle requires continual speed and steering adjustments to follow a generated path. In consequence, the path's quality is a limiting factor of the…
This paper presents a novel trajectory optimization formulation to solve the robotic assembly of the belt drive unit. Robotic manipulations involving contacts and deformable objects are challenging in both dynamic modeling and trajectory…
Autonomous terrain traversal of articulated tracked robots can reduce operator cognitive load to enhance task efficiency and facilitate extensive deployment. We present a novel hybrid trajectory optimization method aimed at generating…
We present a novel algorithm for collision-free kinematics of multiple manipulators in a shared workspace with moving obstacles. Our optimization-based approach simultaneously handles collision-free constraints based on reciprocal velocity…
This paper presents a method for planning a trajectory in workspace coordinates using a spatially fixed tool center point (TCP), while taking into account the processing path on a part. This approach is beneficial if it is easier to move…
In order to safely and efficiently collaborate with humans, industrial robots need the ability to alter their motions quickly to react to sudden changes in the environment, such as an obstacle appearing across a planned trajectory. In…
We propose an algorithm for generating minimum-snap trajectories for quadrotors with linear computational complexity with respect to the number of segments in the spline trajectory. Our algorithm is numerically stable for large numbers of…
MPC (Model predictive control)-based motion planning and trajectory generation are essential in applications such as unmanned aerial vehicles, robotic manipulators, and rocket control. However, the real-time implementation of such…
To generate safe and real-time trajectories for an autonomous vehicle in dynamic environments, path and speed decoupled planning methods are often considered. This paper studies speed planning, which mainly deals with dynamic obstacle…
This paper studies path synthesis for nonholonomic mobile robots moving in two-dimensional space. We first address the problem of interpolating paths expressed as sequences of straight line segments, such as those produced by some planning…
With the development of robotics, ground robots are no longer limited to planar motion. Passive height variation due to complex terrain and active height control provided by special structures on robots require a more general navigation…
In this paper, we present a real-time approach to local trajectory replanning for microaerial vehicles (MAVs). Current trajectory generation methods for multicopters achieve high success rates in cluttered environments, but assume that the…
Robotic manipulators are often designed with more actuated degrees-of-freedom than required to fully control an end effector's position and orientation. These "redundant" manipulators can allow infinite joint configurations that satisfy a…