相关论文: Minimum-time trajectory generation for quadrotors …
Trained humans exhibit highly agile spatial skills, enabling them to operate vehicles with complex dynamics in demanding tasks and conditions. Prior work shows that humans achieve this performance by using strategies such as satisficing,…
In real world scenarios, due to environmental or hardware constraints, the quadrotor is forced to navigate in pure inertial navigation mode while operating indoors or outdoors. To mitigate inertial drift, end-to-end neural network…
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…
To efficiently deploy robotic systems in society, mobile robots must move autonomously and safely through complex environments. Nonlinear model predictive control (MPC) methods provide a natural way to find a dynamically feasible trajectory…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
Quadrotors are agile platforms. With human experts, they can perform extremely high-speed flights in cluttered environments. However, fully autonomous flight at high speed remains a significant challenge. In this work, we propose a motion…
Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…
We consider the problem of trajectory planning in an environment comprised of a set of obstacles with uncertain locations. While previous approaches model the uncertainties with a prescribed Gaussian distribution, we consider the realistic…
Vehicle trajectory optimization is essential to ensure vehicles travel efficiently and safely. This paper presents an infrastructure assisted constrained connected automated vehicles (CAVs) trajectory optimization method on curved roads.…
Trajectory optimization (TO) is an efficient tool to generate a redundant manipulator's joint trajectory following a 6-dimensional Cartesian path. The optimization performance largely depends on the quality of initial trajectories. However,…
This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…
Autonomous drone racing is becoming an excellent platform to challenge quadrotors' autonomy techniques including planning, navigation and control technologies. However, most research on this topic mainly focuses on single drone scenarios.…
High-speed trajectory planning through unknown environments requires algorithmic techniques that enable fast reaction times while maintaining safety as new information about the operating environment is obtained. The requirement of…
This paper presents a new trajectory planning method for multiple quadrotors in obstacle-dense environments. We suggest a relative safe flight corridor (RSFC) to model safe region between a pair of agents, and it is used to generate linear…
In this paper, we present a novel optimization-based framework for autonomous excavator trajectory generation under various objectives, including minimum joint displacement and minimum time. Traditional methods on excavation trajectory…
Quadrotors are agile flying robots that are challenging to control. Considering the full dynamics of quadrotors during motion planning is crucial to achieving good solution quality and small tracking errors during flight. Optimization-based…
Though great effort has been put into the study of path planning on urban roads and highways, few works have studied the driving strategy and trajectory planning in low-speed driving scenarios, e.g., driving on a university campus or…
In this paper, we present a minimal torque and time variable trajectory optimization method for autonomous excavator considering the soil-tool interaction. The method formulates the excavation motion generation as a trajectory optimization…
Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…
This paper considers the problem of online trajectory design under time-varying environments. We formulate the general trajectory optimization problem within the framework of time-varying constrained convex optimization and proposed a novel…