Related papers: Efficient Hierarchical Any-Angle Path Planning on …
In this paper, we present a new algorithm that extends RRT* and RT-RRT* for online path planning in complex, dynamic environments. Sampling-based approaches often perform poorly in environments with narrow passages, a feature common to many…
Autonomous path planning requires a synergy between global reasoning and geometric precision, especially in complex or cluttered environments. While classical A* is valued for its optimality, it incurs prohibitive computational and memory…
This paper presents a framework for fast and robust motion planning designed to facilitate automated driving. The framework allows for real-time computation even for horizons of several hundred meters and thus enabling automated driving in…
In this paper, we propose a new method called Clustering Topological PRM (CTopPRM) for finding multiple homotopically distinct paths in 3D cluttered environments. Finding such distinct paths, e.g., going around an obstacle from a different…
We present a hierarchical skeleton-guided motion planning algorithm to guide mobile robots. A good skeleton maps the connectivity of the subspace of c-space containing significant degrees of freedom and is able to guide the planner to find…
Fastest-path queries between two points in a very large road map is an increasingly important primitive in modern transportation and navigation systems, thus very efficient computation of these paths is critical for system performance and…
We propose a robust and efficient framework to generate global trajectories for ground robots in complex 3D environments. The proposed method takes point cloud as input and efficiently constructs a multi-level map using triangular patches…
Path planning plays a crucial role in various autonomy applications, and RRT* is one of the leading solutions in this field. In this paper, we propose the utilization of vertex-based networks to enhance the sampling process of RRT*, leading…
Heuristic search-based motion planning algorithms typically discretise the search space in order to solve the shortest path problem. Their performance is closely related to this discretisation. A fine discretisation allows for better…
Multi-agent pathfinding (MAPF) is the problem of finding a set of conflict-free paths for a set of agents. Typically, the agents' moves are limited to a pre-defined graph of possible locations and allowed transitions between them, e.g. a…
We study the computational complexity of optimally solving multi-robot path planning problems on planar graphs. For four common time- and distance-based objectives, we show that the associated path optimization problems for multiple robots…
Practical global path planning is critical for commercializing cleaning robots working in semi-structured environments. In the literature, global path planning methods for free space usually focus on path length and neglect the traffic rule…
In this paper, we address the problem of adaptive path planning for accurate semantic segmentation of terrain using unmanned aerial vehicles (UAVs). The usage of UAVs for terrain monitoring and remote sensing is rapidly gaining momentum due…
Path planning in narrow passages is a challenging problem in various applications. Traditional planning algorithms often face challenges in complex environments like mazes and traps, where narrow entrances require special orientation…
Cutting plane methods, particularly outer approximation, are a well-established approach for solving nonlinear discrete optimization problems without relaxing the integrality of decision variables. While powerful in theory, their…
Optimally selecting a subset of targets from a larger catalog is a common problem in astronomy and cosmology. A specific example is the selection of targets from an imaging survey for multi-object spectrographic follow-up. We present a new…
Trajectory planning for quadrotors in cluttered environments has been challenging in recent years. While many trajectory planning frameworks have been successful, there still exists potential for improvements, particularly in enhancing the…
Path planning is an important component in any highly automated vehicle system. In this report, the general problem of path planning is considered first in partially known static environments where only static obstacles are present but the…
Many exciting robotic applications require multiple robots with many degrees of freedom, such as manipulators, to coordinate their motion in a shared workspace. Discovering high-quality paths in such scenarios can be achieved, in principle,…
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…