相关论文: Towards Search-based Motion Planning for Micro Aer…
In many situations, Miniature Aerial Vehicles (MAVs) are limited to using only on-board sensors for navigation. This limits the data available to algorithms used for stabilization and localization, and current control methods are often…
For intelligent quadcopter UAVs, a robust and reliable autonomous planning system is crucial. Most current trajectory planning methods for UAVs are suitable for static environments but struggle to handle dynamic obstacles, which can pose…
In recent years, there has been a growing interest in the visual detection of micro aerial vehicles (MAVs) due to its importance in numerous applications. However, the existing methods based on either appearance or motion features encounter…
In this paper, we present a motion planning framework for multi-modal vehicle dynamics. Our proposed algorithm employs transcription of the optimization objective function, vehicle dynamics, and state and control constraints into sparse…
Motion planning in environments with multiple agents is critical to many important autonomous applications such as autonomous vehicles and assistive robots. This paper considers the problem of motion planning, where the controlled agent…
This paper considers multi-goal motion planning in unstructured, obstacle-rich environments where a robot is required to reach multiple regions while avoiding collisions. The planned motions must also satisfy the differential constraints…
Moving in complex environments is an essential capability of intelligent mobile robots. Decades of research and engineering have been dedicated to developing sophisticated navigation systems to move mobile robots from one point to another.…
Planning smooth and energy-efficient motions for wheeled mobile robots is a central task for applications ranging from autonomous driving to service and intralogistic robotics. Over the past decades, a wide variety of motion planners, steer…
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…
This paper presents a novel method to generate spatial constraints for motion planning in dynamic environments. Motion planning methods for autonomous driving and mobile robots typically need to rely on the spatial constraints imposed by a…
Effective motion planning in high dimensional spaces is a long-standing open problem in robotics. One class of traditional motion planning algorithms corresponds to potential-based motion planning. An advantage of potential based motion…
Operating unmanned aerial vehicles (UAVs) in complex environments that feature dynamic obstacles and external disturbances poses significant challenges, primarily due to the inherent uncertainty in such scenarios. Additionally, inaccurate…
This paper presents preliminary work on learning the search heuristic for the optimal motion planning for automated driving in urban traffic. Previous work considered search-based optimal motion planning framework (SBOMP) that utilized…
Recent advancements in robotics have transformed industries such as manufacturing, logistics, surgery, and planetary exploration. A key challenge is developing efficient motion planning algorithms that allow robots to navigate complex…
The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…
In this work, our goal is to extend the existing search and rescue paradigm by allowing teams of autonomous unmanned aerial vehicles (UAVs) to collaborate effectively with human searchers on the ground. We derive a framework that includes a…
We explore path planning followed by kinodynamic smoothing while ensuring the vehicle dynamics feasibility for MAVs. We have chosen a geometrically based motion planning technique \textquotedblleft RRT*\textquotedblright\; for this purpose.…
Despite recent progress improving the efficiency and quality of motion planning, planning collision-free and dynamically-feasible trajectories in partially-mapped environments remains challenging, since constantly replanning as unseen…
In this paper, we explore the application of Unmanned Aerial Vehicles (UAVs) in maritime search and rescue (mSAR) missions, focusing on medium-sized fixed-wing drones and quadcopters. We address the challenges and limitations inherent in…
To control how a robot moves, motion planning algorithms must compute paths in high-dimensional state spaces while accounting for physical constraints related to motors and joints, generating smooth and stable motions, avoiding obstacles,…