相关论文: Prioritized Planning for Cooperative Range-Only Lo…

Motion planning in an autonomous agent is responsible for providing smooth, safe and efficient navigation. Many solutions for dealing this problem have been offered, one of which is, Artificial Potential Fields (APF). APF is a simple and…

This paper mainly studies the localization and mapping of range sensing robots in the confidence-rich map (CRM) and then extends it to provide a full state estimate for information-theoretic exploration. Most previous works about active…

This paper addresses the problem of optimizing communicated information among heterogeneous, resource-aware robot teams to facilitate their navigation. In such operations, a mobile robot compresses its local map to assist another robot in…

The efficiency of sampling-based motion planning brings wide application in autonomous mobile robots. The conventional rapidly exploring random tree (RRT) algorithm and its variants have gained significant successes, but there are still…

In the realm of programmable photonic integrated circuits (PICs), precise wire length control is crucial for the performance of on-chip programmable components such as optical ring resonators, Mach-Zehnder interferometers, and optical true…

In this paper, we study a navigation problem where a mobile robot needs to locate a mmWave wireless signal. Using the directionality properties of the signal, we propose an estimation and path planning algorithm that can efficiently…

Sampling-based motion planning algorithms have been continuously developed for more than two decades. Apart from mobile robots, they are also widely used in manipulator motion planning. Hence, these methods play a key role in collaborative…

Systems of networked mobile robots, such as unmanned aerial or ground vehicles, will play important roles in future military and commercial applications. The communications for such systems will typically be over wireless links and may…

Robot localization is a fundamental component of autonomous navigation in unknown environments. Among various sensing modalities, visual input from cameras plays a central role, enabling robots to estimate their position by tracking point…

We deal with the problem of planning collision-free trajectories for robots operating in a shared space. Given the start and destination position for each of the robots, the task is to find trajectories for all robots that reach their…

This paper studies a coordinate alignment problem for cooperative mobile sensor network localization with range-based measurements. The network consists of target nodes, each of which has only access position information in a local fixed…

Robots deployed in settings such as warehouses and parking lots must cope with frequent and substantial changes when localizing in their environments. While many previous localization and mapping algorithms have explored methods of…

Recent advancements in self-driving car technologies have enabled them to navigate autonomously through various environments. However, one of the critical challenges in autonomous vehicle operation is trajectory planning, especially in…

Location Routing is a fundamental planning problem in logistics, in which strategic location decisions on the placement of facilities (depots, distribution centers, warehouses etc.) are taken based on accurate estimates of operational…

Planning for legged-wheeled machines is typically done using trajectory optimization because of many degrees of freedom, thus rendering legged-wheeled planners prone to falling prey to bad local minima. We present a combined sampling and…

We study the problem of planning collision-free paths for a group of homogeneous robots. We propose a novel approach for turning the paths that were planned egocentrically by the robots, e.g. without taking other robots' moves into account,…

We report two decentralized multi-agent cooperative localization algorithms in which, to reduce the communication cost, inter-agent state estimate correlations are not maintained but accounted for implicitly. In our first algorithm, to…

Centralized trajectory optimization in the joint space of multiple robots allows access to a larger feasible space that can result in smoother trajectories, especially while planning in tight spaces. Unfortunately, it is often…

Robotic systems, particularly in demanding environments like narrow corridors or disaster zones, often grapple with imperfect state estimation. Addressing this challenge requires a trajectory plan that not only navigates these restrictive…

Autonomous exploration for mapping unknown large scale environments is a fundamental challenge in robotics, with efficiency in time, stability against map corruption and computational resources being crucial. This paper presents a novel…