相关论文: Sampling Strategies for Path Planning under Kinema…

This paper addresses path planning of an unmanned aerial vehicle (UAV) with remote sensing capabilities (or wireless communication capabilities). The goal of the path planning is to find a minimum-flight-time closed tour of the UAV visiting…

Iterative trajectory optimization techniques for non-linear dynamical systems are among the most powerful and sample-efficient methods of model-based reinforcement learning and approximate optimal control. By leveraging time-variant local…

Autonomous vehicles face the problem of optimizing the expected performance of subsequent maneuvers while bounding the risk of collision with surrounding dynamic obstacles. These obstacles, such as agent vehicles, often exhibit stochastic…

Effective motion planning in high dimensional spaces is a long-standing open problem in robotics. One class of traditional motion planning algorithms corresponds to potential-based motion planning. An advantage of potential based motion…

We found that enforcing guidance throughout the sampling process is often counterproductive due to the model-fitting issue, where samples are 'tuned' to match the classifier's parameters rather than generalizing the expected condition. This…

This work addresses the problem of vehicle path planning in the presence of obstacles and uncertainties, which is a fundamental problem in robotics. While many path planning algorithms have been proposed for decades, many of them have dealt…

This paper uses the smoothing and mapping framework to solve the SLAM problem in indoor environments; focusing on how some key issues such as feature extraction and data association can be handled by applying probabilistic techniques. For…

Useless paths are a chronic problem for marker-passing techniques. We use a probabilistic analysis to justify a method for quickly identifying and rejecting useless paths. Using the same analysis, we identify key conditions and assumptions…

We present a simple and easy-to-implement algorithm to detect plan infeasibility in kinematic motion planning. Our method involves approximating the robot's configuration space to a discrete space, where each degree of freedom has a finite…

When the dynamics of a system are difficult to model and/or time-consuming to evaluate, such as in deformable object manipulation tasks, motion planning algorithms struggle to find feasible plans efficiently. Such problems are often reduced…

Large-sample data became prevalent as data acquisition became cheaper and easier. While a large sample size has theoretical advantages for many statistical methods, it presents computational challenges. Sketching, or compression, is a…

Probabilistic sampling methods have become very popular to solve single-shot path planning problems. Rapidly-exploring Random Trees (RRTs) in particular have been shown to be efficient in solving high dimensional problems. Even though…

Learning-based path planning is becoming a promising robot navigation methodology due to its adaptability to various environments. However, the expensive computing and storage associated with networks impose significant challenges for their…

Optimal path planning is prone to convergence to local, rather than global, optima. This is often the case for mobile manipulators due to nonconvexities induced by obstacles, robot kinematics and constraints. This paper focuses on planning…

The aim of this paper is twofold. First, three theoretical principles are formalized: randomization, overrepresentation and restriction. We develop these principles and give a rationale for their use in choosing the sampling design in a…

The scenario approach is widely used in robust control system design and chance-constrained optimization, maintaining convexity without requiring assumptions about the probability distribution of uncertain parameters. However, the approach…

We present an evaluation of several representative sampling-based and optimization-based motion planners, and then introduce an integrated motion planning system which incorporates recent advances in trajectory optimization into a sparse…

Real-time motion planning is a vital function of robotic systems. Different from existing roadmap algorithms which first determine the free space and then determine the collision-free path, researchers recently proposed several convex…

Constrained motion planning is a challenging field of research, aiming for computationally efficient methods that can find a collision-free path on the constraint manifolds between a given start and goal configuration. These planning…

Sparse model selection is ubiquitous from linear regression to graphical models where regularization paths, as a family of estimators upon the regularization parameter varying, are computed when the regularization parameter is unknown or…