相关论文: Shape-aware Safe Corridors Generation using Voxel …

We present a novel, log-radius profile representation for convex curves and define a new operation for combining the shape features of curves. Unlike the standard, angle profile-based methods, this operation accurately combines the shape…

This article introduces a novel approach to constructing a topometric map that allows for efficient navigation and decision-making in mobile robotics applications. The method generates the topometric map from a 2D grid-based map. The…

Safety guarantees are valuable in the control of walking robots, as falling can be both dangerous and costly. Unfortunately, set-based tools for generating safety guarantees (such as sums-of-squares optimization) are typically restricted to…

There is extensive literature on perceiving road structures by fusing various sensor inputs such as lidar point clouds and camera images using deep neural nets. Leveraging the latest advance of neural architects (such as transformers) and…

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…

Work zone navigation remains one of the most challenging manoeuvres for autonomous vehicles (AVs), where constrained geometries and unpredictable traffic patterns create a high-risk environment. Despite extensive research on AV trajectory…

Approximating collision-free space is fundamental to robot planning in complex environments. Convex geometric representations, such as polytopes and ellipsoids, are widely employed due to their structural properties, which can be easily…

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…

As robotic systems continue to address emerging issues in areas such as logistics, mobility, manufacturing, and disaster response, it is increasingly important to rapidly generate safe and energy-efficient trajectories. In this article, we…

This paper presents VORRT-COLREGs, a hybrid technique that combines velocity obstacles (VO) and rapidly-exploring random trees (RRT) to generate safe trajectories for autonomous surface vessels (ASVs) while following nautical rules of the…

Recent advances in deep learning have significantly transformed the field of 3D shape generation, enabling the synthesis of complex, diverse, and semantically meaningful 3D objects. This survey provides a comprehensive overview of the…

We propose an approach to trajectory optimization for piecewise polynomial systems based on the recently proposed graphs of convex sets framework. We instantiate the framework with a convex relaxation of optimal control based on occupation…

Interactive bodies collision detection and elimination is one of the most popular task nowadays. Collisions can be detected in different ways. Collision search using space voxelization is one of the most fast. This paper describes improved…

In this paper, a novel closed-loop control framework for autonomous obstacle avoidance on a curve road is presented. The proposed framework provides two main functionalities; (i) collision free trajectory planning using MPC and (ii) a…

This paper presents a digital-twin platform for active safety analysis in mixed traffic environments. The platform is built using a multi-modal data-enabled traffic environment constructed from drone-based aerial LiDAR, OpenStreetMap, and…

Many computations in robotics can be dramatically accelerated if the robot configuration space is described as a collection of simple sets. For example, recently developed motion planners rely on a convex decomposition of the free space to…

We investigate a variation of the art gallery problem in which a team of mobile guards tries to track an unpredictable intruder in a simply-connected polygonal environment. In this work, we use the deployment strategy for diagonal guards…

When obtaining interior 3D voxel data from triangular meshes, most existing methods fail to handle low quality meshes which happens to take up a big portion on the internet. In this work we present a robust voxelization method that is based…

Applying intelligent robot arms in dynamic uncertain environments (i.e., flexible production lines) remains challenging, which requires efficient algorithms for real time trajectory generation. The motion planning problem for robot…

Micro aerial vehicles (MAVs), are frequently used for exploration, examination, and surveillance during search and rescue missions. Manually piloting these robots under stressful conditions provokes pilot errors and can result in crashes…