相关论文: Improved Optimization of Motion Primitives for Mot…
An enabling technology for future sea transports is safe and energy-efficient autonomous maritime navigation in narrow environments with other marine vessels present. This requires that the algorithm controlling the ship is able to account…
Robotic manipulators are essential for future autonomous systems, yet limited trust in their autonomy has confined them to rigid, task-specific systems. The intricate configuration space of manipulators, coupled with the challenges of…
With the development of robotics, ground robots are no longer limited to planar motion. Passive height variation due to complex terrain and active height control provided by special structures on robots require a more general navigation…
This paper presents a modular framework for motion planning using movement primitives. Central to the approach is Contraction Theory, a modular stability tool for nonlinear dynamical systems. The approach extends prior methods by achieving…
We present a general and modular algorithmic framework for path planning of robots. Our framework combines geometric methods for exact and complete analysis of low-dimensional configuration spaces, together with practical, considerably…
This study presents a new framework for vehicle motion planning and control based on the automatic generation of model predictive controllers (MPCs) named MPC Builder. In this framework, several components necessary for MPC, such as…
This paper proposes a novel sampling-based motion planner, which integrates in RRT* (Rapidly exploring Random Tree star) a database of pre-computed motion primitives to alleviate its computational load and allow for motion planning in a…
This work considers a Motion Planning Problem with Dynamic Obstacles (MPDO) in 2D that requires finding a minimum-arrival-time collision-free trajectory for a point robot between its start and goal locations amid dynamic obstacles moving…
An algorithm for planning near time-optimal trajectories for systems with an oscillatory internal dynamics has been developed in previous work. It is based on assembling a complete trajectory from motion primitives called jerk segments,…
Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…
Driving in an off-road environment is challenging for autonomous vehicles due to the complex and varied terrain. To ensure stable and efficient travel, the vehicle requires consideration and balancing of environmental factors, such as…
To solve the autonomous navigation problem in complex environments, an efficient motion planning approach is newly presented in this paper. Considering the challenges from large-scale, partially unknown complex environments, a three-layer…
Rapid robot motion generation is critical in Human-Robot Collaboration (HRC) systems, as robots need to respond to dynamic environments in real time by continuously observing their surroundings and replanning their motions to ensure both…
The linearization of the equations of motion of a robotics system about a given state-input trajectory, including a controlled equilibrium state, is a valuable tool for model-based planning, closed-loop control, gain tuning, and state…
Multi-agent motion planning (MAMP) is an important problem for autonomous systems with multiple agents. In this work we propose a two-step method for finding optimized and kinematically feasible solutions to MAMP problems. The first step…
In this paper, we propose a whole-body planning framework that unifies dynamic locomotion and manipulation tasks by formulating a single multi-contact optimal control problem. We model the hybrid nature of a generic multi-limbed mobile…
Motion planning in an autonomous agent is responsible for providing smooth, safe and efficient navigation. Many solutions for dealing this problem have been offered, one of which is, Artificial Potential Fields (APF). APF is a simple and…
In this work, we propose a search-based planning method to compute dynamically feasible trajectories for a quadrotor flying in an obstacle-cluttered environment. Our approach searches for smooth, minimum-time trajectories by exploring 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…
We develop an optimization framework centered around a core idea: once a (parametric) policy is specified, control authority is transferred to the policy, resulting in an autonomous dynamical system. Thus we should be able to optimize…