相关论文: RRT-CoLearn: towards kinodynamic planning without …

Task and Motion Planning (TAMP) integrates high-level task planning with low-level motion feasibility, but existing methods are costly in long-horizon problems due to excessive motion sampling. While LLMs provide commonsense priors, they…

During the last decade, incremental sampling-based motion planning algorithms, such as the Rapidly-exploring Random Trees (RRTs) have been shown to work well in practice and to possess theoretical guarantees such as probabilistic…

This paper proposes a sampling based planning algorithm to control autonomous vehicles. We propose an improved Rapidly-exploring Random Tree which includes the definition of K- nearest points and propose a two-stage sampling strategy to…

State estimation and control are often addressed separately, leading to unsafe execution due to sensing noise, execution errors, and discrepancies between the planning model and reality. Simultaneous control and trajectory estimation using…

The efficiency of sampling-based motion planning brings wide application in autonomous mobile robots. The conventional rapidly exploring random tree (RRT) algorithm and its variants have gained significant successes, but there are still…

Search-based techniques have shown great success in motion planning problems such as robotic navigation by discretizing the state space and precomputing motion primitives. However in domains with complex dynamic constraints, constructing…

This paper presents a sampling-based method for optimal motion planning in non-holonomic systems in the absence of known cost functions. It uses the principle of learning through experience to deduce the cost-to-go of regions within the…

This paper proposes a new sampling-based kinodynamic motion planning algorithm, called FMT*PFF, for nonlinear systems. It exploits the novel idea of dimensionality reduction using partial-final-state-free (PFF) optimal controllers.With the…

Trajectory following is one of the complicated control problems when its dynamics are nonlinear, stochastic and include a large number of parameters. The problem has significant difficulties including a large number of trials required for…

Motion planning problems have been studied by both the robotics and the controls research communities for a long time, and many algorithms have been developed for their solution. Among them, incremental sampling-based motion planning…

Learned representations in deep reinforcement learning (DRL) have to extract task-relevant information from complex observations, balancing between robustness to distraction and informativeness to the policy. Such stable and rich…

While reinforcement learning (RL) has the potential to enable robots to autonomously acquire a wide range of skills, in practice, RL usually requires manual, per-task engineering of reward functions, especially in real world settings where…

This paper presents a Riemannian metric-based model to solve the optimal path planning problem on two-dimensional smooth submanifolds in high-dimensional space. Our model is based on constructing a new Riemannian metric on a two-dimensional…

This work casts the kinodynamic planning problem for car-like vehicles as an optimization task to compute a minimum-time trajectory and its associated velocity profile, subject to boundary conditions on velocity, acceleration, and steering.…

In many real-world robotic tasks, robots must generate dynamically feasible motions that reliably reach desired goals even under uncertainty. Yet existing sampling-based kinodynamic planners typically optimize accumulated trajectory costs…

We address multi-robot motion planning under Signal Temporal Logic (STL) specifications with kinodynamic constraints. Exact approaches face scalability bottlenecks and limited adaptability, while conventional sampling-based methods require…

We demonstrate that challenging shortest path problems can be solved via direct spline regression from a neural network, trained in an unsupervised manner (i.e. without requiring ground truth optimal paths for training). To achieve this, we…

Rapidly Exploring Random Tree (RRT) algorithms, notably used for nonholonomic vehicle navigation in complex environments, are often not thoroughly evaluated for their specific challenges. This paper presents a first such comparison study of…

This work presents a technique for learning systems, where the learning process is guided by knowledge of the physics of the system. In particular, we solve the problem of the two-point boundary optimal control problem of linear…

In this paper, we present a new algorithm that extends RRT* and RT-RRT* for online path planning in complex, dynamic environments. Sampling-based approaches often perform poorly in environments with narrow passages, a feature common to many…