相关论文: Sparse Waypoint Validity Checking for Self-Entangl…
Safe autonomous navigation in a priori unknown environments is an essential skill for mobile robots to reliably and adaptively perform diverse tasks (e.g., delivery, inspection, and interaction) in unstructured cluttered environments.…
We consider path planning for a rigid spatial robot moving amidst polyhedral obstacles. Our robot is either a rod or a ring. Being axially-symmetric, their configuration space is R^3 x S^2 with 5 degrees of freedom (DOF). Correct, complete…
Replanning in temporal logic tasks is extremely difficult during the online execution of robots. This study introduces an effective path planner that computes solutions for temporal logic goals and instantly adapts to non-static and…
In autonomous navigation, trajectory replanning, refinement, and control command generation are essential for effective motion planning. This paper presents a resilient approach to trajectory replanning addressing scenarios where the…
Safe Interval Path Planning (SIPP) is a powerful algorithm for solving single-agent pathfinding problem when the agent is confined to a graph and certain vertices/edges of this graph are blocked at certain time intervals due to dynamic…
The ability of a robot to plan complex behaviors with real-time computation, rather than adhering to predesigned or offline-learned routines, alleviates the need for specialized algorithms or training for each problem instance. Monte Carlo…
We consider how to directly extract a road map (also known as a topological representation) of an initially-unknown 2-dimensional environment via an online procedure that robustly computes a retraction of its boundaries. In this article, we…
Fast and accurate path planning is important for ground robots to achieve safe and efficient autonomous navigation in unstructured outdoor environments. However, most existing methods exploiting either 2D or 2.5D maps struggle to balance…
In this paper, we first propose a spatial-temporal coupled risk assessment paradigm by constructing a three-dimensional spatial-temporal risk field (STRF). Specifically, we introduce spatial-temporal distances to quantify the impact of…
This paper presents a numerical optimization algorithm for generating approach and landing trajectories for a six-degree-of-freedom (6-DoF) aircraft. We improve on the existing research on aircraft landing trajectory generation by…
Many robot planning tasks require satisfaction of one or more constraints throughout the entire trajectory. For geometric constraints, manifold-constrained motion planning algorithms are capable of planning collision-free path between start…
This paper presents an online path planning algorithm for safe autonomous manipulation of a flexibly constrained object in an unknown environment. Methods for real time identification and characterization of perceived flexible constraints…
As the demands of autonomous mobile robots are increasing in recent years, the requirement of the path planning/navigation algorithm should not be content with the ability to reach the target without any collisions, but also should try to…
In pursuit of the time-optimal path tracking (TOPT) trajectory of a robot manipulator along a preset path, a beforehand identified robot dynamic model is usually used to obtain the required optimal trajectory for perfect tracking. However,…
We propose a novel receding horizon planner for an autonomous surface vehicle (ASV) performing path planning in urban waterways. Feasible paths are found by repeatedly generating and searching a graph reflecting the obstacles observed in…
Steerable needles are minimally invasive devices that enable novel medical procedures by following curved paths to avoid critical anatomical obstacles. Planning algorithms can be used to find a steerable needle motion plan to a target.…
The Multi-Agent Path Finding (MAPF) problem aims to determine the shortest and collision-free paths for multiple agents in a known, potentially obstacle-ridden environment. It is the core challenge for robotic deployments in large-scale…
Constrained motion planning is a common but challenging problem in robotic manipulation. In recent years, data-driven constrained motion planning algorithms have shown impressive planning speed and success rate. Among them, the latent…
This paper presents a novel quasi-centralized approach for collision-free path planning of multi-robot systems (MRS) in obstacle-ridden environments. A new formation potential fields (FPF) concept is proposed around a virtual agent, located…
This paper presents an enhanced direct-method-based approach for the real-time solution of optimal control problems to handle path constraints, such as obstacles. The principal contributions of this work are twofold: first, the existing…