相关论文: Machine Learning Based Path Planning for Improved …

This paper explores the combination of Reinforcement Learning (RL) and search-based path planners to speed up the optimization of flight paths for airliners, where in case of emergency a fast route re-calculation can be crucial. The…

The process of designing costmaps for off-road driving tasks is often a challenging and engineering-intensive task. Recent work in costmap design for off-road driving focuses on training deep neural networks to predict costmaps from sensory…

This study presents a hierarchical, network-level traffic flow control framework for mixed traffic consisting of Human-driven Vehicles (HVs), Connected and Automated Vehicles (CAVs). The framework jointly optimizes vehicle-level eco-driving…

This paper investigates an unmanned aerial vehicle (UAV)-assisted mobile-edge computing (MEC) system, in which the UAV provides complementary computation resource to the terrestrial MEC system. The UAV processes the received computation…

This paper enhances the obstacle avoidance of Autonomous Surface Vehicles (ASVs) for safe navigation in high-traffic waters with an active state estimation of obstacle's passing intention and reducing its uncertainty. We introduce a…

The safety validation of autonomous robotic vehicles hinges on systematically testing their planning and control stacks against rare, safety-critical scenarios. Mining these long-tail events from massive real-world driving logs is therefore…

Routing Problems are central to many real-world applications, yet remain challenging due to their (NP-)hard nature. Amongst existing approaches, heuristics often offer the best trade-off between quality and scalability, making them suitable…

The integration of Large Language Model (LLM) reasoning principles into classical robot path planning represents a rapidly emerging research direction. In this paper, we propose a Semantic Risk-Aware Heuristic (SRAH) planner that encodes…

This paper presents a novel 3D myopic coverage path planning algorithm for lunar micro-rovers that can explore unknown environments with limited sensing and computational capabilities. The algorithm expands upon traditional non-graph path…

Autonomous vehicles must often contend with conflicting planning requirements, e.g., safety and comfort could be at odds with each other if avoiding a collision calls for slamming the brakes. To resolve such conflicts, assigning importance…

Emergency response vehicles (ERVs), such as fire trucks, operate to save lives and mitigate property damage. Emergency vehicle preemption (EVP) is typically implemented to provide the right-of-way to ERVs by giving green signals as they…

We propose a novel method, ProNav, which uses proprioceptive signals for traversability estimation in challenging outdoor terrains for autonomous legged robot navigation. Our approach uses sensor data from a legged robot's joint encoders,…

Multi-Agent Path Finding (MAPF) has gained significant attention, with most research focusing on minimizing collisions and travel time. This paper also considers energy consumption in the path planning of automated guided vehicles (AGVs).…

Metric ground navigation addresses the problem of autonomously moving a robot from one point to another in an obstacle-occupied planar environment in a collision-free manner. It is one of the most fundamental capabilities of intelligent…

Path planning, which aims to find a collision-free path between two locations, is critical for numerous applications ranging from mobile robots to self-driving vehicles. Traditional search-based methods like A* search guarantee path…

Safety is a core challenge of autonomous robot motion planning, especially in the presence of dynamic and uncertain obstacles. Many recent results use learning and deep learning-based motion planners and prediction modules to predict…

The capture of flying MAVs (micro aerial vehicles) has garnered increasing research attention due to its intriguing challenges and promising applications. Despite recent advancements, a key limitation of existing work is that capture…

The European Space Agency (ESA) has a clear mission to go forward to the Moon in preparation of human presence on Mars. One of the technologies looked at to increase safety and efficiency of astronauts in this context is Augmented Reality…

Exploration of unknown environments is a fundamental problem in robotics and an essential component in numerous applications of autonomous systems. A major challenge in exploring unknown environments is that the robot has to plan with the…

In this paper, we tackle the problem of Unmanned Aerial (UA V) path planning in complex and uncertain environments by designing a Model Predictive Control (MPC), based on a Long-Short-Term Memory (LSTM) network integrated into the Deep…