相关论文: A Nonlinear Constrained Optimization Framework for…

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…

This work presents a novel and efficient nonlinear programming framework that tightly integrates hierarchical decision-making with whole-body inverse kinematic planning and control. Decision-making plays a central role in many aspects of…

Parametrized motion planning algorithms have high degrees of universality and flexibility, as they are designed to work under a variety of external conditions, which are viewed as parameters and form part of the input of the underlying…

Motion trajectory planning is one crucial aspect for automated vehicles, as it governs the own future behavior in a dynamically changing environment. A good utilization of a vehicle's characteristics requires the consideration of the…

We propose an algorithmic framework for efficient anytime motion planning on large dense geometric roadmaps, in domains where collision checks and therefore edge evaluations are computationally expensive. A large dense roadmap (graph) can…

We consider optimal route planning when the objective function is a general nonlinear and non-monotonic function. Such an objective models user behavior more accurately, for example, when a user is risk-averse, or the utility function needs…

This research focuses on trajectory planning problems for autonomous vehicles utilizing numerical optimal control techniques. The study reformulates the constrained optimization problem into a nonlinear programming problem, incorporating…

In this paper, a novel method for path planning of mobile robots is proposed, taking into account the non-holonomic turn radius constraints and finite dimensions of the robot. The approach involves rasterizing the environment to generate a…

Vehicle trajectory planning is a key component for an autonomous driving system. A practical system not only requires the component to compute a feasible trajectory, but also a comfortable one given certain comfort metrics. Nevertheless,…

Humanoid robots rely on multi-contact planners to navigate a diverse set of environments, including those that are unstructured and highly constrained. To synthesize stable multi-contact plans within a reasonable time frame, most planners…

We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…

This paper studies motion planning of a mobile robot under uncertainty. The control objective is to synthesize a {finite-memory} control policy, such that a high-level task specified as a Linear Temporal Logic (LTL) formula is satisfied…

We present an optimization-based framework for multicopter trajectory planning subject to geometrical configuration constraints and user-defined dynamic constraints. The basis of the framework is a novel trajectory representation built upon…

A cable-driven soft-bodied robot with redundancy can conduct the trajectory tracking task and in the meanwhile fulfill some extra constraints, such as tracking through an end-effector in designated orientation, or get rid of the evitable…

Despite recent progress improving the efficiency and quality of motion planning, planning collision-free and dynamically-feasible trajectories in partially-mapped environments remains challenging, since constantly replanning as unseen…

A high redundant non-holonomic humanoid mobile dual-arm manipulator system is presented in this paper where the motion planning to realize "human-like" autonomous navigation and manipulation tasks is studied. Firstly, an improved MaxiMin…

We present parametric trajectory optimization, a method for simultaneously computing physical parameters, actuation requirements, and robot motions for more efficient robot designs. In this scheme, robot dimensions, masses, and other…

Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…

During the conceptual and prototype design stage of an industrial product, it is crucial to take assembly/disassembly and maintenance operations in advance. A well-designed system should enable relatively easy access of operating…

We present an optimization-based method to plan the motion of an autonomous robot under the uncertainties associated with dynamic obstacles, such as humans. Our method bounds the marginal risk of collisions at each point in time by…