相关论文: A Model-Predictive Motion Planner for the IARA Aut…

Recently, deep-learning based approaches have achieved impressive performance for autonomous driving. However, end-to-end vision-based methods typically have limited interpretability, making the behaviors of the deep networks difficult to…

We propose an informative path planning (IPP) algorithm for active classification using an unmanned aerial vehicle (UAV), focusing on weed detection in precision agriculture. We model the presence of weeds on farmland using an occupancy…

Fast and efficient motion planning algorithms are crucial for many state-of-the-art robotics applications such as self-driving cars. Existing motion planning methods become ineffective as their computational complexity increases…

Physics-based motion planning is a challenging task, since it requires the computation of the robot motions while allowing possible interactions with (some of) the obstacles in the environment. Kinodynamic motion planners equipped with a…

This article addresses obstacle avoidance motion planning for autonomous vehicles, specifically focusing on highway overtaking maneuvers. The control design challenge is handled by considering a mathematical vehicle model that captures both…

The ability to traverse an unknown environment is crucial for autonomous robot operations. However, due to the limited sensing capabilities and system constraints, approaching this problem with a single robot agent can be slow, costly, and…

Model Predictive Path Integral (MPPI) control is a powerful sampling-based strategy for nonlinear autonomous systems. However, its performance is often bottlenecked by the fidelity of nominal dynamics. We propose ICODE-MPPI, a robust…

Path planning in dynamic environments is essential to high-risk applications such as unmanned aerial vehicles, self-driving cars, and autonomous underwater vehicles. In this paper, we generate collision-free trajectories for a robot within…

We present a motion planning algorithm to compute collision-free and smooth trajectories for high-DOF robots interacting with humans in a shared workspace. Our approach uses offline learning of human actions along with temporal coherence to…

Informative path planning (IPP) is an important planning paradigm for various real-world robotic applications such as environment monitoring. IPP involves planning a path that can learn an accurate belief of the quantity of interest, while…

Imitation learning (IL) is widely used for motion planning in autonomous driving due to its data efficiency and access to real-world driving data. For safe and robust real-world driving, IL-based planning requires capturing the complex…

Mobile robots dedicated in security tasks should be capable of clearly perceiving their environment to competently navigate within cluttered areas, so as to accomplish their assigned mission. The paper in hand describes such an autonomous…

Human motion prediction is important for mobile service robots and intelligent vehicles to operate safely and smoothly around people. The more accurate predictions are, particularly over extended periods of time, the better a system can,…

We present Look-Back and Look-Ahead Adaptive Model Predictive Control (LLA-MPC), a real-time adaptive control framework for autonomous racing that addresses the challenge of rapidly changing tire-surface interactions. Unlike existing…

This paper presents a method based on linear programming for trajectory planning of automated vehicles, combining obstacle avoidance, time scheduling for the reaching of waypoints and time-optimal traversal of tube-like road segments.…

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…

This paper presents a game-theoretic path-following formulation where the opponent is an adversary road model. This formulation allows us to compute safe sets using tools from viability theory, that can be used as terminal constraints in an…

Autonomous driving technology is developing rapidly and nowadays first autonomous rides are being provided in city areas. This requires the highest standards for the safety and reliability of the technology. Motion prediction part of the…

In this work, we address the motion planning problem for autonomous vehicles through a new lattice planning approach, called Feedback Enhanced Lattice Planner (FELP). Existing lattice planners have two major limitations, namely the high…

Sampling-based motion planners have proven to be efficient solutions to a variety of high-dimensional, geometrically complex motion planning problems with applications in several domains. The traditional view of these approaches is that…