相关论文: Dynamic Free-Space Roadmap for Safe Quadrotor Moti…

We present a dynamic path planning algorithm to navigate an amphibious rotor craft through a concave time-invariant obstacle field while attempting to minimize energy usage. We create a nonlinear quaternion state model that represents the…

This paper presents a novel method to generate spatial constraints for motion planning in dynamic environments. Motion planning methods for autonomous driving and mobile robots typically need to rely on the spatial constraints imposed by a…

Unlike squared (or alike) quadrotors, elongated bi-copters leverage natural superiority in crossing tight spaces. To date, extensive works have focused on the design, modeling, and control of bi-copters. Besides, a proper motion planner…

Safe Corridors (a series of overlapping convex shapes) have been used recently in multiple state-of-the-art motion planning methods. They allow to represent the free space in the environment in an efficient way for collision avoidance. In…

Motion planning is a key tool that allows robots to navigate through an environment without collisions. The problem of robot motion planning has been studied in great detail over the last several decades, with researchers initially focusing…

We consider the problem of planning collision-free trajectories on distance fields. Our key observation is that querying a distance field at one configuration reveals a region of safe space whose radius is given by the distance value,…

In this work, we present a workspace-based planning framework, which though using redundant workspace key-points to represent robot states, can take advantage of the interpretable geometric information to derive good quality collision-free…

As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…

To generate safe and real-time trajectories for an autonomous vehicle in dynamic environments, path and speed decoupled planning methods are often considered. This paper studies speed planning, which mainly deals with dynamic obstacle…

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…

This paper aims to improve the computational efficiency of motion planning for mobile robots with non-trivial dynamics through the use of learned controllers. Offline, a system-specific controller is first trained in an empty environment.…

Online generation of collision free trajectories is of prime importance for autonomous navigation. Dynamic environments, robot motion and sensing uncertainties adds further challenges to collision avoidance systems. This paper presents an…

In this paper, we introduce a new probabilistically safe local steering primitive for sampling-based motion planning in complex high-dimensional configuration spaces. Our local steering procedure is based on a new notion of a convex…

In this paper, we propose a robust and efficient quadrotor motion planning system for fast flight in 3-D complex environments. We adopt a kinodynamic path searching method to find a safe, kinodynamic feasible and minimum-time initial…

Ground robots navigating in complex, dynamic environments must compute collision-free trajectories to avoid obstacles safely and efficiently. Nonconvex optimization is a popular method to compute a trajectory in real-time. However, these…

Mobile robots navigating in indoor and outdoor environments must be able to identify and avoid unsafe terrain. Although a significant amount of work has been done on the detection of standing obstacles (solid obstructions), not much work…

Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…

This paper presents a novel trajectory planning pipeline for complex driving scenarios like autonomous lane changing, by integrating risk-aware planning with guaranteed collision avoidance into a unified optimization framework. We first…

In recent years, mobile robots are becoming ambitious and deployed in large-scale scenarios. Serving as a high-level understanding of environments, a sparse skeleton graph is beneficial for more efficient global planning. Currently,…

This paper proposes a solution to the problem of smooth path planning for mobile robots in dynamic and unknown environments. A novel concept of Time-Warped Grid is introduced to predict the pose of obstacles in the environment and avoid…