相关论文: Perception-Aware Motion Planning via Multiobjectiv…
High-speed obstacle avoidance of uncrewed aerial vehicles (UAVs) in cluttered environments is a significant challenge. Existing UAV planning and obstacle avoidance systems can only fly at moderate speeds or at high speeds over empty or…
Tag-based visual-inertial localization is a lightweight method for enabling autonomous data collection missions of low-cost unmanned aerial vehicles (UAVs) in indoor construction environments. However, finding the optimal tag configuration…
As the trend of moving away from high-precision maps gradually emerges in the autonomous driving industry,traditional planning algorithms are gradually exposing some problems. To address the high real-time, high precision, and high…
Given different types of constraints on human life, people must make decisions that satisfy social activity needs. Minimizing costs (i.e., distance, time, or money) associated with travel plays an important role in perceived and realized…
Autonomous mobile robots (e.g., warehouse logistics robots) often need to traverse complex, obstacle-rich, and changing environments to reach multiple fixed goals (e.g., warehouse shelves). Traditional motion planners need to calculate the…
This paper presents PANTHER, a real-time perception-aware (PA) trajectory planner for multirotor-UAVs (Unmanned Aerial Vehicles) in dynamic environments. PANTHER plans trajectories that avoid dynamic obstacles while also keeping them in the…
High-accuracy and low-latency 3D object detection is essential for autonomous driving systems. While previous studies on 3D object detection often evaluate performance based on mean average precision (mAP) and latency, they typically fail…
Accurate and robust state estimation is critical for autonomous navigation of robot teams. This task is especially challenging for large groups of size, weight, and power (SWAP) constrained aerial robots operating in perceptually-degraded…
Modern trajectory optimization based approaches to motion planning are fast, easy to implement, and effective on a wide range of robotics tasks. However, trajectory optimization algorithms have parameters that are typically set in advance…
Planning for autonomous systems typically requires reasoning with models at different levels of abstraction, and the harmonization of two competing sets of objectives: high-level mission goals that refer to an interaction of the system with…
Multi-robot systems enhance efficiency and productivity across various applications, from manufacturing to surveillance. While single-robot motion planning has improved by using databases of prior solutions, extending this approach to…
In this paper, we address the problem of stochastic motion planning under partial observability, more specifically, how to navigate a mobile robot equipped with continuous range sensors such as LIDAR. In contrast to many existing robotic…
We cast motion planning under uncertainty as a stochastic optimal control problem, where the optimal posterior distribution has an explicit form. To approximate this posterior, this work frames an optimization problem in the space of…
Box/cabinet scenarios with stacked objects pose significant challenges for robotic motion due to visual occlusions and constrained free space. Traditional collision-free trajectory planning methods often fail when no collision-free paths…
Visual inertial odometry (VIO) is widely used for the state estimation of multicopters, but it may function poorly in environments with few visual features or in overly aggressive flights. In this work, we propose a perception-aware…
The paper considers the problem of planning a set of non-conflict trajectories for the coalition of intelligent agents (mobile robots). Two divergent approaches, e.g. centralized and decentralized, are surveyed and analyzed. Decentralized…
This paper describes and analyzes a reactive navigation framework for mobile robots in unknown environments. The approach does not rely on a global map and only considers the local occupancy in its robot-centered 3D grid structure. The…
Search-based motion planning has been used for mobile robots in many applications. However, it has not been fully developed and applied for planning full state trajectories of Micro Aerial Vehicles (MAVs) due to their complicated dynamics…
Autonomous navigation based on precise localization has been widely developed in both academic research and practical applications. The high demand for localization accuracy has been essential for safe robot planing and navigation while it…
Aerial robots can enhance construction site productivity by autonomously handling inspection and mapping tasks. However, ensuring safe navigation near human workers remains challenging. While navigation in static environments has been well…