相关论文: Progressive Learning for Physics-informed Neural M…

Mobile robots are often tasked with repeatedly navigating through an environment whose traversability changes over time. These changes may exhibit some hidden structure, which can be learned. Many studies consider reactive algorithms for…

In the coordinated motion planning problem, we are given a graph together with the starting and destination vertices of $k$ robots. At each time step, any subset of robots may move, each traversing an edge of the graph, provided that no two…

Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance, and planning of the underactuated dynamics of the system. Reliably optimizing for such motions and interactions in the presence of imperfect and…

Algorithms for motion planning in unknown environments are generally limited in their ability to reason about the structure of the unobserved environment. As such, current methods generally navigate unknown environments by relying on…

For autonomous mobile robots, uncertainties in the environment and system model can lead to failure in the motion planning pipeline, resulting in potential collisions. In order to achieve a high level of robust autonomy, these robots should…

A motion planning algorithm computes the motion of a robot by computing a path through its configuration space. To improve the runtime of motion planning algorithms, we propose to nest robots in each other, creating a nested quotient-space…

We propose a novel diffusion-based action model for robotic motion planning. Commonly, established numerical planning approaches are used to solve general motion planning problems, but have significant runtime requirements. By leveraging…

Integrated Task and Motion Planning (ITMP) for mobile robots in a dynamic environment with moving obstacles is a challenging research question and attracts more and more attentions recently. Most existing methods either restrict to static…

Motion planning is still an open problem for many disciplines, e.g., robotics, autonomous driving, due to their need for high computational resources that hinder real-time, efficient decision-making. A class of methods striving to provide…

We introduce the Riemannian Motion Policy (RMP), a new mathematical object for modular motion generation. An RMP is a second-order dynamical system (acceleration field or motion policy) coupled with a corresponding Riemannian metric. The…

The presence of task constraints imposes a significant challenge to motion planning. Despite all recent advancements, existing algorithms are still computationally expensive for most planning problems. In this paper, we present Constrained…

This work presents a decentralized motion planning framework for addressing the task of multi-robot navigation using deep reinforcement learning. A custom simulator was developed in order to experimentally investigate the navigation problem…

The past decade has amply demonstrated the remarkable functionality that can be realized by learning complex input/output relationships. Algorithmically, one of the most important and opaque relationships is that between a problem's…

With the release of open source datasets such as nuPlan and Argoverse, the research around learning-based planners has spread a lot in the last years. Existing systems have shown excellent capabilities in imitating the human driver…

Differentiable physics enables efficient gradient-based optimizations of neural network (NN) controllers. However, existing work typically only delivers NN controllers with limited capability and generalizability. We present a practical…

Motion planning under sensing uncertainty is critical for robots in unstructured environments to guarantee safety for both the robot and any nearby humans. Most work on planning under uncertainty does not scale to high-dimensional robots…

Accurately predicting fluid dynamics and evolution has been a long-standing challenge in physical sciences. Conventional deep learning methods often rely on the nonlinear modeling capabilities of neural networks to establish mappings…

We propose a novel algorithm to solve multi-robot motion planning (MRMP) rapidly, called Simultaneous Sampling-and-Search Planning (SSSP). Conventional MRMP studies mostly take the form of two-phase planning that constructs roadmaps and…

This work introduces B-spline Movement Primitives (BMPs), a new Movement Primitive (MP) variant that leverages B-splines for motion representation. B-splines are a well-known concept in motion planning due to their ability to generate…

Navigation of terrestrial robots is typically addressed either with localization and mapping (SLAM) followed by classical planning on the dynamically created maps, or by machine learning (ML), often through end-to-end training with…