相关论文: Towards Search-based Motion Planning for Micro Aer…
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…
The task of establishing and maintaining situational awareness in an unknown environment is a critical step to fulfil in a mission related to the field of rescue robotics. Predominantly, the problem of visual inspection of urban structures…
This paper presents an integrated motion planning system for autonomous vehicle (AV) parking in the presence of other moving vehicles. The proposed system includes 1) a hybrid environment predictor that predicts the motions of the…
In this work, a set of motion primitives is defined for use in an energy-aware motion planning problem. The motion primitives are defined as sequences of control inputs to a simplified four-DOF dynamics model and are used to replace the…
Micro aerial vehicles (MAVs), are frequently used for exploration, examination, and surveillance during search and rescue missions. Manually piloting these robots under stressful conditions provokes pilot errors and can result in crashes…
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…
An exciting frontier in robotic manipulation is the use of multiple arms at once. However, planning concurrent motions is a challenging task using current methods. The high-dimensional composite state space renders many well-known motion…
In recent years, the field of autonomous driving has attracted increasingly significant public interest. Accurately forecasting the future behavior of various traffic participants is essential for the decision-making of Autonomous Vehicles…
A fundamental challenge in multi-robot motion planning is achieving sufficient coordination to avoid inter-robot conflicts without incurring the large computational expense of searching the joint configuration space of the robot group. In…
Motion planning in uncertain environments like complex urban areas is a key challenge for autonomous vehicles (AVs). The aim of our research is to investigate how AVs can navigate crowded, unpredictable scenarios with multiple pedestrians…
Fixed-wing unmanned aerial vehicles (UAVs) offer significant performance advantages over rotary-wing UAVs in terms of speed, endurance, and efficiency. However, these vehicles have traditionally been severely limited with regards to…
Motion planning is a fundamental problem in autonomous robotics that requires finding a path to a specified goal that avoids obstacles and takes into account a robot's limitations and constraints. It is often desirable for this path to also…
Efficient motion planning for high-dimensional robotic systems, such as manipulators and mobile manipulators, is critical for real-time operation and reliable deployment. Although advances in planning algorithms have enhanced scalability to…
Motion planning for urban environments with numerous moving agents can be viewed as a combinatorial problem. With passing an obstacle before, after, right or left, there are multiple options an autonomous vehicle could choose to execute.…
In this paper, a kinematic motion planning algorithm for cooperative spatial payload manipulation is presented. A hierarchical approach is introduced to compute real-time collision-free motion plans for a formation of mobile manipulator…
Safe autonomous navigation is an essential and challenging problem for robots operating in highly unstructured or completely unknown environments. Under these conditions, not only robotic systems must deal with limited localisation…
Parametrized motion planning algorithms have high degrees of universality and flexibility, as they are designed to work under a variety of external conditions, which are viewed as parameters and form part of the input of the underlying…
This work addresses the path planning problem for a group of unmanned aerial vehicles (UAVs) to maintain a desired formation during operation. Our approach formulates the problem as an optimization task by defining a set of fitness…
Research on Multi-rotor Aerial Vehicles (MAVs) has experienced remarkable advancements over the past two decades, propelling the field forward at an accelerated pace. Through the implementation of motion control and the integration of…
Trajectory planning for autonomous cars can be addressed by primitive-based methods, which encode nonlinear dynamical system behavior into automata. In this paper, we focus on optimal trajectory planning. Since, typically, multiple criteria…