Related papers: Smooth Feedback Motion Planning with Reduced Curva…
This paper presents policy-based motion planning for robotic systems. The motion planning literature has been mostly focused on open-loop trajectory planning which is followed by tracking online. In contrast, we solve the problem of path…
A fundamental challenge in multi-robot motion planning is achieving sufficient coordination to avoid inter-robot conflicts without incurring the large computational expense of searching the joint configuration space of the robot group. In…
The paper presents a novel learning-based sampling strategy that guarantees rejection-free sampling of the free space under both biased and approximately uniform conditions, leveraging multivariate kernel densities. Historical data from a…
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…
This paper presents a modeling and optimization framework to compute the minimum-lap-time spatial trajectory and powertrain operation of racing cars in a computationally efficient fashion. Specifically, we first derive a quasi-steady-state…
This paper presents a novel trajectory planning pipeline for complex driving scenarios like autonomous lane changing, by integrating risk-aware planning with guaranteed collision avoidance into a unified optimization framework. We first…
Most existing methods for motion planning of mobile robots involve generating collision-free trajectories. However, these methods focusing solely on contact avoidance may limit the robots' locomotion and can not be applied to tasks where…
We consider the problem of designing a smooth trajectory that traverses a sequence of convex sets in minimum time, while satisfying given velocity and acceleration constraints. This problem is naturally formulated as a nonconvex program. To…
This paper presents a systematic approach for computing local solutions to motion planning problems in non-convex environments using numerical optimal control techniques. It extends the range of use of state-of-the-art numerical optimal…
In many robot motion planning problems, task objectives and physical constraints induce non-Euclidean geometry on the configuration space, yet many planners operate using Euclidean distances that ignore this structure. We address the…
This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…
We introduce a novel gradient-based approach for solving sequential tasks by dynamically adjusting the underlying myopic potential field in response to feedback and the world's regularities. This adjustment implicitly considers subgoals…
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…
Motion planning framed as optimisation in structured latent spaces has recently emerged as competitive with traditional methods in terms of planning success while significantly outperforming them in terms of computational speed. However,…
In this paper, we consider a robot navigation problem in environments populated by humans. The goal is to determine collision-free and dynamically feasible trajectories that also maximize human satisfaction. This is because they may drive…
In the recent past, several sampling-based algorithms have been proposed to compute trajectories that are collision-free and dynamically-feasible. However, the outputs of such algorithms are notoriously jagged. In this paper, by focusing on…
We consider the problem of finding collision-free paths for curvature-constrained systems in the presence of obstacles while minimizing execution time. Specifically, we focus on the setting where a planar system can travel at some range of…
Recently, many reactive trajectory planning approaches were suggested in the literature because of their inherent immediate adaption in the ever more demanding cluttered and unpredictable environments of robotic systems. However, typically…
Some of the next generation massive spectroscopic survey projects, such as DESI and PFS, plan to use thousands of fiber positioner robots packed at a focal plane to quickly move in parallel the fiber-ends from the previous to the next…
This paper focuses on coordinating a robot swarm orbiting a convex path without collisions among the individuals. The individual robots lack braking capabilities and can only adjust their courses while maintaining their constant but…