相关论文: Resource and Response Aware Path Planning for Long…

Achieving long term autonomy of robots operating in dynamic environments such as farms remains a significant challenge. Arguably, the most demanding factors to achieve this are the on-board resource constraints such as energy, planning in…

For mobile robots to be effectively applied to real world unstructured environments -- such as large scale farming -- they require the ability to generate adaptive plans that account both for limited onboard resources, and the presence of…

Autonomous systems, including robots and drones, face significant challenges when navigating through dynamic environments, particularly within urban settings where obstacles, fluctuating traffic, and pedestrian activity are constantly…

Achieving persistent tracking of multiple dynamic targets over a large spatial area poses significant challenges for a single-robot system with constrained sensing capabilities. As the robot moves to track different targets, the ones…

There are many challenges for robot navigation in densely populated dynamic environments. This paper presents a survey of the path planning methods for robot navigation in dense environments. Particularly, the path planning in the…

Long-distance driving is an important component of planetary surface exploration. Unforeseen events often require human operators to adjust mobility plans, but this approach does not scale and will be insufficient for future missions.…

Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…

It is necessary for a mobile robot to be able to efficiently plan a path from its starting, or current, location to a desired goal location. This is a trivial task when the environment is static. However, the operational environment of the…

Different methods are used for a mobile robot to go to a specific target location. These methods work in different ways for online and offline scenarios. In the offline scenario, an environment map is created once, and fixed path planning…

Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…

Path planning in dynamic environments is a fundamental challenge in intelligent transportation and robotics, where obstacles and conditions change over time, introducing uncertainty and requiring continuous adaptation. While existing…

Humans seamlessly fuse anticipatory planning with immediate feedback to perform successive mobile manipulation tasks without stopping, achieving both high efficiency and reliability. Replicating this fluid and reliable behavior in robots…

Autonomous robots are often employed for data collection due to their efficiency and low labour costs. A key task in robotic data acquisition is planning paths through an initially unknown environment to collect observations given…

Autonomous robot navigation systems often rely on hierarchical planning, where global planners compute collision-free paths without considering dynamics, and local planners enforce dynamics constraints to produce executable commands. This…

Mobile robots often have limited battery life and need to recharge periodically. This paper presents an RRT- based path-planning algorithm that addresses battery power management. A path is generated continuously from the robot's current…

Driving vehicles in complex scenarios under harsh conditions is the biggest challenge for autonomous vehicles (AVs). To address this issue, we propose hierarchical motion planning and robust control strategy using the front-active steering…

Replanning in temporal logic tasks is extremely difficult during the online execution of robots. This study introduces an effective path planner that computes solutions for temporal logic goals and instantly adapts to non-static and…

Though great effort has been put into the study of path planning on urban roads and highways, few works have studied the driving strategy and trajectory planning in low-speed driving scenarios, e.g., driving on a university campus or…

In this paper, we focus on the problem of task allocation, cooperative path planning and motion coordination of the large-scale system with thousands of robots, aiming for practical applications in robotic warehouses and automated logistics…

The authors present an overview of a hierarchical framework for coordinating task- and motion-level operations in multirobot systems. Their framework is based on the idea of using simple temporal networks to simultaneously reason about…