相关论文: Motion Planning Explorer: Visualizing Local Minima…

Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…

Robust evidence suggests that humans explore their environment using a combination of topological landmarks and coarse-grained path integration. This approach relies on identifiable environmental features (topological landmarks) in tandem…

A high redundant non-holonomic humanoid mobile dual-arm manipulator system is presented in this paper where the motion planning to realize "human-like" autonomous navigation and manipulation tasks is studied. Firstly, an improved MaxiMin…

Robotic systems may frequently come across similar manipulation planning problems that result in similar motion plans. Instead of planning each problem from scratch, it is preferable to leverage previously computed motion plans, i.e.,…

The objective function used in trajectory optimization is often non-convex and can have an infinite set of local optima. In such cases, there are diverse solutions to perform a given task. Although there are a few methods to find multiple…

In this paper, we propose a new framework for segmenting feature-based moving objects under affine subspace model. Since the feature trajectories in practice are high-dimensional and contain a lot of noise, we firstly apply the sparse PCA…

This work presents an efficient framework to generate a motion plan of a robot with high degrees of freedom (e.g., a humanoid robot). High-dimensionality of the robot configuration space often leads to difficulties in utilizing the…

This paper proposes the Real-Time Fast Marching Tree (RT-FMT), a real-time planning algorithm that features local and global path generation, multiple-query planning, and dynamic obstacle avoidance. During the search, RT-FMT quickly looks…

During the conceptual and prototype design stage of an industrial product, it is crucial to take assembly/disassembly and maintenance operations in advance. A well-designed system should enable relatively easy access of operating…

For safe operation, a robot must be able to avoid collisions in uncertain environments. Existing approaches for motion planning under uncertainties often assume parametric obstacle representations and Gaussian uncertainty, which can be…

Robotic manipulation in complex, constrained spaces is vital for widespread applications but challenging, particularly when navigating narrow passages with elongated objects. Existing planning methods often fail in these low-clearance…

We present an integrated Task-Motion Planning (TMP) framework for navigation in large-scale environment. Autonomous robots operating in real world complex scenarios require planning in the discrete (task) space and the continuous (motion)…

This paper investigates Path planning Among Movable Obstacles (PAMO), which seeks a minimum cost collision-free path among static obstacles from start to goal while allowing the robot to push away movable obstacles (i.e., objects) along its…

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…

We introduce and study the problem of planning a trajectory for an agent to carry out a scouting mission while avoiding being detected by an adversarial guard. This introduces an adversarial version of classical visibility-based planning…

We present optimal motion planning algorithms which can be used in designing practical systems controlling objects moving in Euclidean space without collisions. Our algorithms are optimal in a very concrete sense, namely, they have the…

Motion planning algorithms often leverage topological information about the environment to improve planner performance. However, these methods often focus only on the environment's connectivity while ignoring other properties such as…

Building on progress in feature representations for image retrieval, image-based localization has seen a surge of research interest. Image-based localization has the advantage of being inexpensive and efficient, often avoiding the use of 3D…

This paper proposes a low-level visual navigation algorithm to improve visual localization of a mobile robot. The algorithm, based on artificial potential fields, associates each feature in the current image frame with an attractive or…

We describe parametrised motion planning algorithms for systems controlling objects represented by points that move without collisions in an even dimensional Euclidean space and in the presence of up to three obstacles with \emph{a priori}…