相关论文: Towards Autonomous Excavation Planning

The hierarchy of global and local planners is one of the most commonly utilized system designs in autonomous robot navigation. While the global planner generates a reference path from the current to goal locations based on the pre-built…

Planning is an essential topic in the realm of automated driving. Besides planning algorithms that are widely covered in the literature, planning requires different software tools for its development, validation, and execution. This paper…

Planning safe paths is a major building block in robot autonomy. It has been an active field of research for several decades, with a plethora of planning methods. Planners can be generally categorised as either trajectory optimisers or…

Motion planning is a fundamental problem in autonomous robotics that requires finding a path to a specified goal that avoids obstacles and takes into account a robot's limitations and constraints. It is often desirable for this path to also…

To increase the speed of operation and reduce operator burden, humanoid robots must be able to function autonomously, even in complex, cluttered environments. For this to be possible, they must be able to quickly and efficiently compute…

Underwater glider robots have become indispensable for ocean sampling, yet fully autonomous long-term operation remains rare in practice. Although stakeholders are calling for tools to manage increasingly large fleets of gliders, existing…

This paper develops a planner to find an optimal assembly sequence to assemble several objects. The input to the planner is the mesh models of the objects, the relative poses between the objects in the assembly, and the final pose of the…

For rescue robots, flipper endows the robot with additional ability to pass through various terrain. Autonomous motion becomes more important. In recent work autonomy is done by either planning with several special states or based on…

An Autonomous Physical System (APS) will be expected to reliably and independently evaluate, execute, and achieve goals while respecting surrounding rules, laws, or conventions. In doing so, an APS must rely on a broad spectrum of dynamic,…

Automating complex tasks using robotic systems requires skills for planning, control and execution. This paper proposes a complete robotic system for maintenance automation, which can automate disassembly and assembly operations under…

Traditionally, prediction and planning in autonomous driving (AD) have been treated as separate, sequential modules. Recently, there has been a growing shift towards tighter integration of these components, known as Integrated Prediction…

Currently, state-of-the-art exploration methods maintain high-resolution map representations in order to optimize exploration goals in each step that maximizes information gain. However, during exploring, those "optimal" selections could…

Autonomous exploration in unknown environments requires estimating the information gain of an action to guide planning decisions. While prior approaches often compute information gain at discrete waypoints, pathwise integration offers a…

Layout design is ubiquitous in many applications, e.g. architecture/urban planning, etc, which involves a lengthy iterative design process. Recently, deep learning has been leveraged to automatically generate layouts via image generation,…

One of the most important barriers toward a widespread use of mobile robots in unstructured and human populated work environments is the ability to plan a safe path. In this paper, we propose to delegate this activity to a human operator…

AI Planning, Machine Learning and Process Mining have so far developed into separate research fields. At the same time, many interesting concepts and insights have been gained at the intersection of these areas in recent years. For example,…

Motion planning in the presence of multiple dynamic obstacles is an important research problem from the perspective of autonomous vehicles as well as space-constrained multi-robot work environment. In this paper, we address the motion…

Recent advancements in robotics have transformed industries such as manufacturing, logistics, surgery, and planetary exploration. A key challenge is developing efficient motion planning algorithms that allow robots to navigate complex…

The autonomous driving industry is expected to grow by over 20 times in the coming decade and, thus, motivate researchers to delve into it. The primary focus of their research is to ensure safety, comfort, and efficiency. An autonomous…

Recent years have seen an increasing number of deployment of fleets of autonomous vehicles. As the problem scales up, in terms of autonomous vehicles number and complexity of their objectives, there is a growing need for decision-support…