相关论文: Trajectory planning optimization for real-time 6DO…
As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…
To perform autonomous driving maneuvers, such as parallel or perpendicular parking, a vehicle requires continual speed and steering adjustments to follow a generated path. In consequence, the path's quality is a limiting factor of the…
Applying intelligent robot arms in dynamic uncertain environments (i.e., flexible production lines) remains challenging, which requires efficient algorithms for real time trajectory generation. The motion planning problem for robot…
Motion trajectory planning is one crucial aspect for automated vehicles, as it governs the own future behavior in a dynamically changing environment. A good utilization of a vehicle's characteristics requires the consideration of the…
Reactive trajectory optimization for robotics presents formidable challenges, demanding the rapid generation of purposeful robot motion in complex and swiftly changing dynamic environments. While much existing research predominantly…
An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…
In pursuit of the time-optimal path tracking (TOPT) trajectory of a robot manipulator along a preset path, a beforehand identified robot dynamic model is usually used to obtain the required optimal trajectory for perfect tracking. However,…
In many mobile robotics scenarios, such as drone racing, the goal is to generate a trajectory that passes through multiple waypoints in minimal time. This problem is referred to as time-optimal planning. State-of-the-art approaches either…
Planning time-optimal trajectories for quadrotors in cluttered environments is a challenging, non-convex problem. This paper addresses minimizing the traversal time of a given collision-free geometric path without violating bounds on…
Agile quadrotor flight relies on rapidly planning and accurately tracking time-optimal trajectories, a technology critical to their application in the wild. However, the computational burden of computing time-optimal trajectories based on…
We present an efficient path planning algorithm for an Unmanned Aerial Vehicle surveying a cluttered urban landscape. A special emphasis is on maximizing area surveyed while adhering to constraints of the UAV and partially known and…
A significant challenge in manipulation motion planning is to ensure agility in the face of unpredictable changes during task execution. This requires the identification and possible modification of suitable joint-space trajectories, since…
This paper presents a method for constrained motion planning from vision, which enables a robot to move its end-effector over an observed surface, given start and destination points. The robot has no prior knowledge of the surface shape,…
Motion planning in the presence of multiple dynamic obstacles is an important research problem from the perspective of autonomous vehicles as well as space-constrained multi-robot work environment. In this paper, we address the motion…
In this paper, we propose a robust and efficient quadrotor motion planning system for fast flight in 3-D complex environments. We adopt a kinodynamic path searching method to find a safe, kinodynamic feasible and minimum-time initial…
We present parametric trajectory optimization, a method for simultaneously computing physical parameters, actuation requirements, and robot motions for more efficient robot designs. In this scheme, robot dimensions, masses, and other…
We present an efficient algorithm for motion planning and control of a robot system with a high number of degrees-of-freedom. These include high-DOF soft robots or an articulated robot interacting with a deformable environment. Our approach…
Motion planning is a key element of robotics since it empowers a robot to navigate autonomously. Particle Swarm Optimization is a simple, yet a very powerful optimization technique which has been effectively used in many complex…
In robot manipulation, planning the motion of a robot manipulator to grasp an object is a fundamental problem. A manipulation planner needs to generate a trajectory of the manipulator arm to avoid obstacles in the environment and plan an…