相关论文: Exploiting collisions for sampling-based multicopt…
We present an optimization-based framework for multicopter trajectory planning subject to geometrical configuration constraints and user-defined dynamic constraints. The basis of the framework is a novel trajectory representation built upon…
Quadrotors with large thrust-to-weight ratios are able to track aggressive trajectories with sharp turns and high accelerations. In this work, we develop a search-based trajectory planning approach that exploits the quadrotor…
This paper proposes a novel mission planning algorithm for autonomous robots that selects an optimal waypoint sequence from a predefined set to maximize total reward while satisfying obstacle avoidance, state, input, derivative, mission…
In this paper, we present a novel approach to efficiently generate collision-free optimal trajectories for multiple non-holonomic mobile robots in obstacle-rich environments. Our approach first employs a graph-based multi-agent path planner…
Given a two-dimensional polygonal space, the multi-robot visibility-based pursuit-evasion problem tasks several pursuer robots with the goal of establishing visibility with an arbitrarily fast evader. The best known complete algorithm for…
Sampling based probabilistic roadmap planners (PRM) have been successful in motion planning of robots with higher degrees of freedom, but may fail to capture the connectivity of the configuration space in scenarios with a critical narrow…
We propose to explore the potential advantages of a new class of tracking algorithms loosely inspired by the Hough transform concept and where we include the time of arrival of each hit as an additional coordinate to be treated in the same…
The performance of optimization-based robot motion planning algorithms is highly dependent on the initial solutions, commonly obtained by running a sampling-based planner to obtain a collision-free path. However, these methods can be slow…
This paper presents a data-driven decentralized trajectory optimization approach for multi-robot motion planning in dynamic environments. When navigating in a shared space, each robot needs accurate motion predictions of neighboring robots…
We address the problem of planning robot motions in constrained configuration spaces where the constraints change throughout the motion. The problem is formulated as a fixed sequence of intersecting manifolds, which the robot needs to…
Motion Planning is necessary for robots to complete different tasks. Rapidly-exploring Random Tree (RRT) and its variants have been widely used in robot motion planning due to their fast search in state space. However, they perform not well…
Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…
This paper introduces a novel algorithm for multiagent offline trajectory generation based on distributed model predictive control. Central to the algorithm's scalability and success is the development of an on-demand collision avoidance…
Path planning is an active area of research essential for many applications in robotics. Popular techniques include graph-based searches and sampling-based planners. These approaches are powerful but have limitations. This paper continues…
Latest research in industrial robotics is aimed at making human robot collaboration possible seamlessly. For this purpose, industrial robots are expected to work on the fly in unstructured and cluttered environments and hence the subject of…
Formation flight of unmanned aerial vehicles (UAVs) poses significant challenges in terms of safety and formation keeping, particularly in cluttered environments. However, existing methods often struggle to simultaneously satisfy these two…
Sampling efficiency in a highly constrained environment has long been a major challenge for sampling-based planners. In this work, we propose Rapidly-exploring Random disjointed-Trees* (RRdT*), an incremental optimal multi-query planner.…
Deploying large, complex space structures is of great interest to the modern scientific world as it can provide new capabilities in obtaining scientific, communicative, and observational information. However, many theoretical mission…
One of the fundamental limiting factors in planetary exploration is the autonomous capabilities of planetary exploration rovers. This study proposes a novel methodology for trustworthy autonomous multi-robot teams which incorporates data…
We present LQR-CBF-RRT*, an incremental sampling-based algorithm for offline motion planning. Our framework leverages the strength of Control Barrier Functions (CBFs) and Linear Quadratic Regulators (LQR) to generate safety-critical and…