相关论文: Finding and Optimizing Certified, Collision-Free R…

Even though mobile robots have been around for decades, trajectory optimization and continuous time collision avoidance remain subject of active research. Existing methods trade off between path quality, computational complexity, and…

Urban land-use allocation represents a complex multi-objective optimization problem critical for sustainable urban development policy. This paper presents novel computational intelligence approaches for optimizing land-use allocation in…

We present improved results for approximating maximum-weight independent set ($\MaxIS$) in the CONGEST and LOCAL models of distributed computing. Given an input graph, let $n$ and $\Delta$ be the number of nodes and maximum degree,…

Optimal control problems with discrete-valued inputs are inherently challenging due to their mixed-integer nature, rendering them generally intractable for real-time, safety-critical aerospace applications. Lossless convexification offers a…

The paper focuses on collision-inclusive motion planning for impact-resilient mobile robots. We propose a new deformation recovery and replanning strategy to handle collisions that may occur at run-time. Contrary to collision avoidance…

Tethered robots play a pivotal role in specialized environments such as disaster response and underground exploration, where their stable power supply and reliable communication offer unparalleled advantages. However, their motion planning…

Obstacle avoidance is central to safe navigation, especially for robots with arbitrary and nonconvex geometries operating in cluttered environments. Existing Control Barrier Function (CBF) approaches often rely on analytic clearance…

Mobile manipulators promise agile, long-horizon behavior by coordinating base and arm motion, yet whole-body trajectory optimization in cluttered, confined spaces remains difficult due to high-dimensional nonconvexity and the need for fast,…

In this series of papers, we present a motion planning framework for planning comfortable and customizable motion of nonholonomic mobile robots such as intelligent wheelchairs and autonomous cars. In Part I, we presented the mathematical…

This paper focuses on the emerging paradigm shift of collision-inclusive motion planning and control for impact-resilient mobile robots, and develops a unified hierarchical framework for navigation in unknown and partially-observable…

The ability to solve motion-planning queries within a fixed time budget is critical for deploying robotic systems in time-sensitive applications. Semi-static environments, where most of the workspace remains fixed while a subset of…

In recent years, impressive results have been achieved in robotic manipulation. While many efforts focus on generating collision-free reference signals, few allow safe contact between the robot bodies and the environment. However, in…

We present a continuous-time collision detection algorithm for quickly detecting whether certain polynomial trajectories in time intersect with convex obstacles. The algorithm is used in conjunction with an existing multicopter trajectory…

This paper proposes a new framework for the optimization of excitation inputs for system identification. The optimization problem considered is to maximize a reduced Fisher information matrix in any of the classical D-, E-, or A-optimal…

This paper develops an algorithm that guides a multi-robot system in an unknown environment in search of fixed targets. The area to be scanned contains an unknown number of convex obstacles of unknown size and shape. The algorithm covers…

This paper presents a novel multi-robot coverage path planning (CPP) algorithm - aka SCoPP - that provides a time-efficient solution, with workload balanced plans for each robot in a multi-robot system, based on their initial states. This…

Aided inertial navigation system (INS), typically consisting of an inertial measurement unit (IMU) and an exteroceptive sensor, has been widely accepted as a feasible solution for navigation. Compared with vision-aided and LiDAR-aided INS,…

This paper is about generating motion plans for high degree-of-freedom systems that account for collisions along the entire body. A particular class of mathematical programs with complementarity constraints become useful in this regard.…

In this paper, we present an online motion planning algorithm (3D-OGSE) for generating smooth, collision-free trajectories over multiple planning iterations for 3-D agents operating in an unknown obstacle-cluttered 3-D environment. Our…

This work presents an efficient method to solve a class of continuous-time, continuous-space stochastic optimal control problems of robot motion in a cluttered environment. The method builds upon a path integral representation of the…