相关论文: Real-Time Motion Planning of a Hydraulic Excavator…
This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…
An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…
This paper presents a novel method for efficiently solving a trajectory planning problem for swarm robotics in cluttered environments. Recent research has demonstrated high success rates in real-time local trajectory planning for swarm…
Autonomous robotic systems are increasingly deployed for mapping, monitoring, and inspection in complex and unstructured environments. However, most existing path planning approaches remain domain-specific (i.e., either on air, land, or…
Planning smooth and energy-efficient motions for wheeled mobile robots is a central task for applications ranging from autonomous driving to service and intralogistic robotics. Over the past decades, a wide variety of motion planners, steer…
This paper presents a framework for fast and robust motion planning designed to facilitate automated driving. The framework allows for real-time computation even for horizons of several hundred meters and thus enabling automated driving in…
We propose a real-time implementable motion planning framework for cooperative object transportation by nonholonomic mobile manipulator robots (MMRs) in dynamic environments. Our global planner finds a path from start to goal through the…
Approaching a tumbling target safely is a critical challenge in space debris removal missions utilizing robotic manipulators onboard servicing satellites. In this work, we propose a trajectory planning method based on nonlinear optimization…
Safe navigation in dynamic environments remains challenging due to uncertain obstacle behaviors and the lack of formal prediction guarantees. We propose two motion planning frameworks that leverage conformal prediction (CP): a global…
Generating obstacle-free trajectories for robotic manipulators in unstructured and cluttered environments remains a significant challenge. Existing motion planning methods often require additional computational effort to generate the final…
Planning trajectories for automated vehicles in urban environments requires methods with high generality, long planning horizons, and fast update rates. Using a path-velocity decomposition, we contribute a novel planning framework, which…
In order to enable Micro-Aerial Vehicles (MAVs) to assist in complex, unknown, unstructured environments, they must be able to navigate with guaranteed safety, even when faced with a cluttered environment they have no prior knowledge of.…
MPC (Model predictive control)-based motion planning and trajectory generation are essential in applications such as unmanned aerial vehicles, robotic manipulators, and rocket control. However, the real-time implementation of such…
Industrial manipulators have extensively collaborated with human operators to execute tasks, e.g., disassembly of end-of-use products, in intelligent remanufacturing. A safety task execution requires real-time path planning for the…
Differential drive mobile manipulators combine the mobility of wheeled bases with the manipulation capability of multi-joint arms, enabling versatile applications but posing considerable challenges for trajectory planning due to their…
Real-time long-range local planning is a challenging task, especially in the presence of dynamics obstacles. We propose a complete system which is capable of performing the local replanning in real-time. Desired trajectory is needed in the…
Motion planning for aerial manipulators in constrained environments has typically been limited to known environments or simplified to that of multi-rotors, which leads to poor adaptability and overly conservative trajectories. This paper…
We present an evaluation of several representative sampling-based and optimization-based motion planners, and then introduce an integrated motion planning system which incorporates recent advances in trajectory optimization into a sparse…
Providing smooth reference trajectories can effectively increase performance and accuracy of tracking control applications while overshoot and unwanted vibrations are reduced. Trajectory planning computations can often be simplified…
Planning time-optimal trajectories for quadrotors in cluttered environments is a challenging, non-convex problem. This paper addresses minimizing the traversal time of a given collision-free geometric path without violating bounds on…