相关论文: Reactive Trajectory Generation in an Unknown Envir…

Precise modeling of microscopic vehicle trajectories is critical for traffic behavior analysis and autonomous driving systems. We propose Ctx2TrajGen, a context-aware trajectory generation framework that synthesizes realistic urban driving…

Differential drive robots are widely used in various scenarios thanks to their straightforward principle, from household service robots to disaster response field robots. There are several types of driving mechanisms for real-world…

Autonomous flight in unknown environments requires precise spatial and temporal trajectory planning, often involving computationally expensive nonconvex optimization prone to local optima. To overcome these challenges, we present the…

Autonomous driving systems have witnessed a significant development during the past years thanks to the advance in machine learning-enabled sensing and decision-making algorithms. One critical challenge for their massive deployment in the…

Soft robots have the potential to interact with sensitive environments and perform complex tasks effectively. However, motion plans and trajectories for soft manipulators are challenging to calculate due to their deformable nature and…

The rapid development of robotics has benefited by more and more people putting their attention to it. With the demand for robots is growing for the purpose of fulfilling tasks instead of humans, how to control the robot better is becoming…

In recent years, using a network of autonomous and cooperative unmanned aerial vehicles (UAVs) without command and communication from the ground station has become more imperative, in particular in search-and-rescue operations, disaster…

Unmanned ground vehicles (UGVs) in unstructured environments mostly operate through teleoperation. To enable stable teleoperated driving in unstructured environments, some research has suggested driver assistance and evaluation methods that…

Detecting vehicles in aerial imagery is a critical task with applications in traffic monitoring, urban planning, and defense intelligence. Deep learning methods have provided state-of-the-art (SOTA) results for this application. However, a…

The use of multi-rotor Unmanned Aerial Vehicles (UAVs) for search and rescue as well as remote sensing is rapidly increasing. Multi-rotor UAVs, however, have limited endurance. The range of UAV applications can be widened if teams of…

Unmanned Aerial Vehicles (UAV) have been standing out due to the wide range of applications in which they can be used autonomously. However, they need intelligent systems capable of providing a greater understanding of what they perceive to…

This article establishes the Exploration-RRT algorithm: A novel general-purpose combined exploration and pathplanning algorithm, based on a multi-goal Rapidly-Exploring Random Trees (RRT) framework. Exploration-RRT (ERRT) has been…

Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent glass obstacles present significant challenges to reliable navigation. Researchers have investigated the use of non-contact sensors and…

This paper proposes an algorithm capable of driving a system to follow a piecewise linear trajectory without prior knowledge of the system dynamics. Motivated by a critical failure scenario in which a system can experience an abrupt change…

Realistic and diverse simulation scenarios with reactive and feasible agent behaviors can be used for validation and verification of self-driving system performance without relying on expensive and time-consuming real-world testing.…

Automated Vehicles (AVs) promise significant advances in transportation. Critical to these improvements is understanding AVs' longitudinal behavior, relying heavily on real-world trajectory data. Existing open-source trajectory datasets of…

We investigate the autonomous navigation of a mobile robot in the presence of other moving vehicles under time-varying uncertain environmental disturbances. We first predict the future state distributions of other vehicles to account for…

In this paper, we study the trajectory optimization of a cellular-connected unmanned aerial vehicle (UAV) which aims to sense the location of a target while maintaining satisfactory communication quality with the ground base stations…

Autonomous navigation of ground robots on uneven terrain is being considered in more and more tasks. However, uneven terrain will bring two problems to motion planning: how to assess the traversability of the terrain and how to cope with…

Differential Dynamic Programming is an optimal control technique often used for trajectory generation. Many variations of this algorithm have been developed in the literature, including algorithms for stochastic dynamics or state and input…