相关论文: Sparse Waypoint Validity Checking for Self-Entangl…
A tethered marsupial robotics system comprises three components: an Unmanned Ground Vehicle (UGV), an Unmanned Aerial Vehicle (UAV), and a tether connecting both robots. Marsupial systems are highly beneficial in industry as they extend the…
Autonomous navigation of ground robots on uneven terrain is being considered in more and more tasks. However, uneven terrain will bring two problems to motion planning: how to assess the traversability of the terrain and how to cope with…
Path planning is a classic problem for autonomous robots. To ensure safe and efficient point-to-point navigation an appropriate algorithm should be chosen keeping the robot's dimensions and its classification in mind. Autonomous robots use…
We study the problem of motion-planning for free-flying multi-link robots and develop a sampling-based algorithm that is specifically tailored for the task. Our work is based on the simple observation that the set of configurations for…
Task And Motion Planning (TAMP) is the problem of finding a solution to an automated planning problem that includes discrete actions executable by low-level continuous motions. This field is gaining increasing interest within the robotics…
By utilizing only depth information, the paper introduces a novel but efficient local planning approach that enhances not only computational efficiency but also planning performances for memoryless local planners. The sampling is first…
Jerk-constrained trajectories offer a wide range of advantages that collectively improve the performance of robotic systems, including increased energy efficiency, durability, and safety. In this paper, we present a novel approach to…
This work proposes a hybrid framework for car-like robots with obstacle avoidance, global convergence, and safety, where safety is interpreted as path invariance, namely, once the robot converges to the path, it never leaves the path. Given…
Autonomous exploration is one of the important parts to achieve the autonomous operation of Unmanned Aerial Vehicles (UAVs). To improve the efficiency of the exploration process, a fast and autonomous exploration planner (FAEP) is proposed…
Inspection of underwater structures with tethered underwater vehicles is often hindered by the risk of tether entanglement. We propose REACT (real-time entanglement-aware coverage path planning for tethered underwater vehicles), a framework…
In sparse optimization, enforcing hard constraints using the $\ell_0$ pseudo-norm offers advantages like controlled sparsity compared to convex relaxations. However, many real-world applications demand not only sparsity constraints but also…
Robots operate in environments with varying implicit structure. For instance, a helicopter flying over terrain encounters a very different arrangement of obstacles than a robotic arm manipulating objects on a cluttered table top.…
This article presents an in-depth review of the topic of path following for autonomous robotic vehicles, with a specific focus on vehicle motion in two dimensional space (2D). From a control system standpoint, path following can be…
Safe path planning is critical for bipedal robots to operate in safety-critical environments. Common path planning algorithms, such as RRT or RRT*, typically use geometric or kinematic collision check algorithms to ensure collision-free…
Although autonomy has gained widespread usage in structured and controlled environments, robotic autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-road, and unstructured environments such as undeveloped…
In the area of multi-drone systems, navigating through dynamic environments from start to goal while providing collision-free trajectory and efficient path planning is a significant challenge. To solve this problem, we propose a novel…
The ability to solve motion-planning queries within a fixed time budget is critical for deploying robotic systems in time-sensitive applications. Semi-static environments, where most of the workspace remains fixed while a subset of…
We present a unified probabilistic framework for simultaneous trajectory estimation and planning (STEAP). Estimation and planning problems are usually considered separately, however, within our framework we show that solving them…
Generating time-optimal, collision-free trajectories for autonomous mobile robots involves a fundamental trade-off between guaranteeing safety and managing computational complexity. State-of-the-art approaches formulate spline-based motion…
A multi-joint enabled robot requires extensive mathematical calculations to determine the end effector's position with respect to the other connective joints involved and their corresponding frames in a specific coordinate system. If a…