相关论文: MGA trajectory planning with an ACO-inspired algor…
We propose a variant of alternating direction method of multiplier (ADMM) to solve constrained trajectory optimization problems. Our ADMM framework breaks a joint optimization into small sub-problems, leading to a low iteration cost and…
Continuous approximation (CA) models have been widely adopted in transit network design studies due to their strong analytical tractability and high computational efficiency. However, such models are typically formulated as nonconvex…
This paper presents the Multi-Objective Ant Nesting Algorithm (MOANA), a novel extension of the Ant Nesting Algorithm (ANA), specifically designed to address multi-objective optimization problems (MOPs). MOANA incorporates adaptive…
In this article, we consider the problem of trajectory planning and control for on-road driving of an autonomous ground vehicle (AGV) in presence of static or moving obstacles. We propose a systematic approach to partition the…
The optimal robot assembly planning problem is challenging due to the necessity of finding the optimal solution amongst an exponentially vast number of possible plans, all while satisfying a selection of constraints. Traditionally, robotic…
Chemical plant design and optimisation have proven challenging due to the complexity of these real-world systems. The resulting complexity translates into high computational costs for these systems' mathematical formulations and simulation…
Linkage Tree Genetic Algorithm (LTGA) is an effective Evolutionary Algorithm (EA) to solve complex problems using the linkage information between problem variables. LTGA performs well in various kinds of single-task optimization and yields…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…
In this work we present a trajectory Optimization framework for whole-body motion planning through contacts. We demonstrate how the proposed approach can be applied to automatically discover different gaits and dynamic motions on a…
Marsupial robot teams consist of carrier robots that transport and deploy multiple passenger robots, such as a team of ground robots that carry and deploy multiple aerial robots, to rapidly explore complex environments. We specifically…
This paper presents a numerical optimization algorithm for generating approach and landing trajectories for a six-degree-of-freedom (6-DoF) aircraft. We improve on the existing research on aircraft landing trajectory generation by…
This work presents an efficient method to solve a class of continuous-time, continuous-space stochastic optimal control problems of robot motion in a cluttered environment. The method builds upon a path integral representation of the…
Ant Colony Optimization (ACO) is a prominent swarm intelligence algorithm extensively applied to path planning. However, traditional ACO methods often exhibit shortcomings, such as blind search behavior and slow convergence within complex…
The container relocation problem is a challenging combinatorial optimisation problem tasked with finding a sequence of container relocations required to retrieve all containers by a given order. Due to the complexity of this problem,…
In Social Robot Navigation, autonomous agents need to resolve many sequential interactions with other agents. State-of-the art planners can efficiently resolve the next, imminent interaction cooperatively and do not focus on longer planning…
This paper presents a new swarm intelligence-based approach to deal with the cooperative path planning problem of unmanned aerial vehicles (UAVs), which is essential for the automatic inspection of infrastructure. The approach uses a 3D…
We deal with the problem of planning collision-free trajectories for robots operating in a shared space. Given the start and destination position for each of the robots, the task is to find trajectories for all robots that reach their…
The potential benefit of migrating software design from Structured to Object Oriented Paradigm is manifolded including modularity, manageability and extendability. This design migration should be automated as it will reduce the time…
Efficiently planning an Unmanned Aerial Vehicle (UAV) path is crucial, especially in dynamic settings where potential threats are prevalent. A Dynamic Path Planner (DPP) for UAV using the Spherical Vector-based Particle Swarm Optimisation…
Motion planning in the presence of multiple dynamic obstacles is an important research problem from the perspective of autonomous vehicles as well as space-constrained multi-robot work environment. In this paper, we address the motion…