相关论文: Direct B\'ezier-Based Trajectory Planner for Impro…

Path planning for robotic coverage is the task of determining a collision-free robot trajectory that observes all points of interest in an environment. Robots employed for such tasks are often capable of exercising active control over…

Accurate and robust navigation in unstructured environments requires fusing data from multiple sensors. Such fusion ensures that the robot is better aware of its surroundings, including areas of the environment that are not immediately…

This paper investigates a hybrid solution which combines deep reinforcement learning (RL) and classical trajectory planning for the following in front application. Here, an autonomous robot aims to stay ahead of a person as the person…

Safety is a critical concern for the success of urban air mobility, especially in dynamic and uncertain environments. This paper proposes a path planning algorithm based on RRT in conjunction with chance constraints in the presence of…

This paper presents a method and an open-source implementation, Bernstein/B\'ezier Optimal Trajectories (BeBOT), for the generation of trajectories for autonomous system operations. The proposed method is based on infinite dimensional…

Path planning is an important problem with the the applications in many aspects, such as video games, robotics etc. This paper proposes a novel method to address the problem of Deep Reinforcement Learning (DRL) based path planning for a…

This paper develops a path planner that minimizes risk (e.g. motion execution) while maximizing accumulated reward (e.g., quality of sensor viewpoint) motivated by visual assistance or tracking scenarios in unstructured or confined…

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…

Autonomous exploration is one of the important parts to achieve the autonomous operation of Unmanned Aerial Vehicles (UAVs). To improve the efficiency of the exploration process, a fast and autonomous exploration planner (FAEP) is proposed…

Unstructured environments such as mountains, caves, construction sites, or disaster areas are challenging for autonomous navigation because of terrain irregularities. In particular, it is crucial to plan a path to avoid risky terrain and…

Efficient motion planning algorithms are essential in robotics. Optimizing essential parameters, such as batch size and nearest neighbor selection in sampling-based methods, can enhance performance in the planning process. However, existing…

Path planning is a fundamental capability of autonomous Unmanned Aerial Vehicles (UAVs), enabling them to efficiently navigate toward a target region or explore complex environments while avoiding obstacles. Traditional pathplanning…

In this paper, we consider improving the efficiency of information-based autonomous robot exploration in unknown and complex environments. We first utilize Gaussian process (GP) regression to learn a surrogate model to infer the…

Space exploration missions have seen use of increasingly sophisticated robotic systems with ever more autonomy. Deep learning promises to take this even a step further, and has applications for high-level tasks, like path planning, as well…

We propose a new method for autonomous navigation in uneven terrains by utilizing a sparse Gaussian Process (SGP) based local perception model. The SGP local perception model is trained on local ranging observation (pointcloud) to learn the…

A hybrid map representation, which consists of a modified generalized Voronoi Diagram (GVD)-based topological map and a grid-based metric map, is proposed to facilitate a new frontier-driven exploration strategy. Exploration frontiers are…

The ability to plan informative paths online is essential to robot autonomy. In particular, sampling-based approaches are often used as they are capable of using arbitrary information gain formulations. However, they are prone to local…

Autonomous exploration in structured and complex indoor environments remains a challenging task, as existing methods often struggle to appropriately model unobserved space and plan globally efficient paths. To address these limitations, we…

The path planning problem for autonomous exploration of an unknown region by a robotic agent typically employs frontier-based or information-theoretic heuristics. Frontier-based heuristics typically evaluate the information gain of a…

Recent advances in trajectory replanning have enabled quadrotor to navigate autonomously in unknown environments. However, high-speed navigation still remains a significant challenge. Given very limited time, existing methods have no strong…