相关论文: BTO-RRT: A rapid, optimal, smooth and point cloud-…

This work investigates the use of robust optimal transport (OT) for shape matching. Specifically, we show that recent OT solvers improve both optimization-based and deep learning methods for point cloud registration, boosting accuracy at an…

This paper presents a two-stage trajectory planning framework for a multi-UAV rigid-payload cascaded transportation system, aiming to address planning challenges in densely cluttered environments. In Stage I, an Enhanced Tube-RRT* algorithm…

One of the fundamental limiting factors in planetary exploration is the autonomous capabilities of planetary exploration rovers. This study proposes a novel methodology for trustworthy autonomous multi-robot teams which incorporates data…

This paper proposes a 2-D autonomous exploration and mapping framework for LiDAR-based SLAM mobile robots, designed to address the major challenges on low-cost platforms, including process instability, map drift, and increased risks of…

Till now, many path planning algorithms have been proposed in the literature. The objective of these algorithms is to find the quickest path between initial position to the end position in a certain environment. The complexity of these…

An important capability of autonomous multi-robot systems is to prevent collision among the individual robots. One approach to this problem is to plan conflict-free trajectories and let each of the robots follow its pre-planned trajectory.…

This paper explores the Navigation Among Movable Obstacles (NAMO) problem and proposes joint path and push planning: which path to take and in what direction the obstacles should be pushed at, given a start and goal position. We present a…

In this paper, a risk map-based path planning algorithm is introduced for autonomous vehicles. Multivariate B-splines are implemented to generate a risk map, which measures the risk of colliding with different objects. In the following…

Unmanned aerial vehicle (UAV) path planning enables UAVs to avoid obstacles and reach the target efficiently. To generate high-quality paths without obstacle collision for UAVs, this paper proposes a novel autonomous path planning algorithm…

Path planning for a robot is one of the major problems in the area of robotics. When a robot is given a task in the form of a Linear Temporal Logic (LTL) specification such that the task needs to be carried out repetitively, we want the…

DUSt3R has recently shown that one can reduce many tasks in multi-view geometry, including estimating camera intrinsics and extrinsics, reconstructing the scene in 3D, and establishing image correspondences, to the prediction of a pair of…

In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…

Many exciting robotic applications require multiple robots with many degrees of freedom, such as manipulators, to coordinate their motion in a shared workspace. Discovering high-quality paths in such scenarios can be achieved, in principle,…

To move through the world, mobile robots typically use a receding-horizon strategy, wherein they execute an old plan while computing a new plan to incorporate new sensor information. A plan should be dynamically feasible, meaning it obeys…

Trajectory planning is commonly used as part of a local planner in autonomous driving. This paper considers the problem of planning a continuous-curvature-rate trajectory between fixed start and goal states that minimizes a tunable…

Robots are increasingly deployed in dynamic and crowded environments, such as urban areas and shopping malls, where efficient and robust navigation is crucial. Traditional risk-based motion planning algorithms face challenges in such…

A major challenge with off-road autonomous navigation is the lack of maps or road markings that can be used to plan a path for autonomous robots. Classical path planning methods mostly assume a perfectly known environment without accounting…

Planning collision-free paths for multi-robot systems (MRS) is a challenging problem because of the safety and efficiency constraints required for real-world solutions. Even though coupled path planning approaches provide optimal…

The research and development of intelligent automation solutions is a ground-breaking point for the factory of the future. A promising and challenging mission is the use of autonomous robot systems to automate tasks in the field of…

Wheeled robot navigation has been widely used in urban environments, but little research has been conducted on its navigation in wild vegetation. External sensors (LiDAR, camera etc.) are often used to construct point cloud map of the…