相关论文: A context-based geoprocessing framework for optimi…

Efficient planning in dynamic and uncertain environments is a fundamental challenge in robotics. In the context of trajectory optimization, the feasibility of paths can change as the environment evolves. Therefore, it can be beneficial to…

Motion planning at urban intersections that accounts for the situation context, handles occlusions, and deals with measurement and prediction uncertainty is a major challenge on the way to urban automated driving. In this work, we address…

Path planning for autonomous driving with dynamic obstacles poses a challenge because it needs to perform a higher-dimensional search (with time-dimension) while still meeting real-time constraints. This paper proposes an algorithm-hardware…

Heuristic search algorithms, e.g. A*, are the commonly used tools for pathfinding on grids, i.e. graphs of regular structure that are widely employed to represent environments in robotics, video games etc. Instance-independent heuristics…

We consider a recently introduced class of network construction problems where edges of a transportation network need to be constructed by a server (construction crew). The server has a constant construction speed which is much lower than…

We present a comparative study of the application of a recently introduced heuristic algorithm to the optimization of transport on three major types of complex networks. The algorithm balances network traffic iteratively by minimizing the…

This paper presents a new framework for anytime heuristic search where the task is to achieve as many goals as possible within the allocated resources. We show the inadequacy of traditional distance-estimation heuristics for tasks of this…

Target detection and tracking provides crucial information for motion planning and decision making in autonomous driving. This paper proposes an online multi-object tracking (MOT) framework with tracking-by-detection for maneuvering…

Consider the scenario where multiple agents have to move in an optimal way through a network, each one towards their ending position while avoiding collisions. By optimal, we mean as fast as possible, which is evaluated by a measure known…

In this paper, we develop a systematic framework for the time-sequential compression of dynamic probabilistic occupancy grids. Our approach leverages ideas from signal compression theory to formulate an optimization problem that searches…

We consider the problem of planning a collision-free path for a high-dimensional robot. Specifically, we suggest a planning framework where a motion-planning algorithm can obtain guidance from a user. In contrast to existing approaches that…

Robot path planning plays a pivotal role in enabling autonomous systems to navigate safely and efficiently in complex and uncertain environments. Despite extensive research on classical graph-based methods and sampling-based planners,…

Interaction-aware planning for autonomous driving requires an exploration of a combinatorial solution space when using conventional search- or optimization-based motion planners. With Deep Reinforcement Learning, optimal driving strategies…

Predictive motion planning is the key to achieve energy-efficient driving, which is one of the main benefits of automated driving. Researchers have been studying the planning of velocity trajectories, a simpler form of motion planning, for…

Autonomous motion planning is critical for efficient and safe underwater manipulation in dynamic marine environments. Current motion planning methods often fail to effectively utilize prior motion experiences and adapt to real-time…

Unmanned ground vehicles (UGVs) are being used extensively in civilian and military applications for applications such as underground mining, nuclear plant operations, planetary exploration, intelligence, surveillance and reconnaissance…

Recently, with the advancement of the GPS-enabled cellular technologies, the location-based services (LBS) have gained in popularity. Nowadays, an increasingly larger number of map-based applications enable users to ask a wider variety of…

In this paper, we study the problem of map matching with travel time constraints. Given a sequence of $k$ spatio-temporal measurements and an embedded path graph with travel time costs, the goal is to snap each measurement to a close-by…

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…

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.…