相关论文: Minimum-Time Quadrotor Waypoint Flight in Cluttere…
For effective multi-agent trajectory planning, it is important to consider lightweight communication and its potential asynchrony. This paper presents a distributed trajectory planning algorithm for a quadrotor swarm that operates…
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.…
For accomplishing a variety of missions in challenging environments, the capability of navigating with full autonomy while avoiding unexpected obstacles is the most crucial requirement for UAVs in real applications. In this paper, we…
Motion planning techniques for quadrotors have advanced significantly over the past decade. Most successful planners have two stages: a front-end that determines a path that incorporates geometric (or kinematic or input) constraints and…
In this work, we propose a method to efficiently compute smooth, time-optimal trajectories for micro aerial vehicles (MAVs) evading a moving obstacle. Our approach first computes an n-dimensional trajectory from the start- to an arbitrary…
We describe a method for formation-change trajectory planning for large quadrotor teams in obstacle-rich environments. Our method decomposes the planning problem into two stages: a discrete planner operating on a graph representation of the…
We present an algorithm that produces a plan for relocating obstacles in order to grasp a target in clutter by a robotic manipulator without collisions. We consider configurations where objects are densely populated in a constrained and…
Quadrotor drones equipped with high quality cameras have rapidely raised as novel, cheap and stable devices for filmmakers. While professional drone pilots can create aesthetically pleasing videos in short time, the smooth -- and…
This project aimed to develop an automated cinematography platform using an unmanned aerial vehicle. Quadcopters are a great platform for shooting aerial scenes but are difficult to maneuver smoothly and can require expertise to pilot. We…
Grasping in cluttered environments is a fundamental but challenging robotic skill. It requires both reasoning about unseen object parts and potential collisions with the manipulator. Most existing data-driven approaches avoid this problem…
This paper introduces a collision avoidance system for navigating a multicopter in cluttered outdoor environments based on the recent memory-less motion planner, rectangular pyramid partitioning using integrated depth sensors (RAPPIDS). The…
Quadruped platforms have become an active topic of research due to their high mobility and traversability in rough terrain. However, it is highly challenging to determine whether the clattered environment could be passed by the robot and…
Visual navigation algorithms for quadrotors often exhibit a large variation in performance when transferred across different vehicle platforms and scene geometries, which increases the cost and risk of field deployment. To support…
Current motion planning approaches for autonomous mobile robots often assume that the low level controller of the system is able to track the planned motion with very high accuracy. In practice, however, tracking error can be affected by…
To efficiently deploy robotic systems in society, mobile robots must move autonomously and safely through complex environments. Nonlinear model predictive control (MPC) methods provide a natural way to find a dynamically feasible trajectory…
In this paper, we develop a computationally-efficient approach to minimum-time trajectory optimization using input-output data-based models, to produce an end-to-end data-to-control solution to time-optimal planning/control of dynamic…
We propose a novel, multi-layered planning approach for computing paths that satisfy both kinodynamic and spatiotemporal constraints. Our three-part framework first establishes potential sequences to meet spatial constraints, using them to…
Autonomous navigation requires robots to generate trajectories for collision avoidance efficiently. Although plenty of previous works have proven successful in generating smooth and spatially collision-free trajectories, their solutions…
Motion planning in the presence of multiple dynamic obstacles is an important research problem from the perspective of autonomous vehicles as well as space-constrained multi-robot work environment. In this paper, we address the motion…
Motion planning under differential constraints, kinodynamic motion planning, is one of the canonical problems in robotics. Currently, state-of-the-art methods evolve around kinodynamic variants of popular sampling-based algorithms, such as…