相关论文: HAS-RRT: RRT-based Motion Planning using Topologic…

Non-monotone object rearrangement planning in confined spaces such as cabinets and shelves is a widely occurring but challenging problem in robotics. Both the robot motion and the available regions for object relocation are highly…

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…

Soft robots, inspired by elephant trunks or octopus arms, offer extraordinary flexibility to bend, twist, and elongate in ways that rigid robots cannot. However, their motion planning remains a challenge, especially in cluttered…

This paper proposes a preliminary work on a Conditional Task and Motion Planning algorithm able to find a plan that minimizes robot efforts while solving assigned tasks. Unlike most of the existing approaches that replan a path only when it…

State-of-the-art ray tracing techniques operate on hierarchical acceleration structures such as BVH trees which wrap objects in a scene into bounding volumes of decreasing sizes. Acceleration structures reduce the amount of ray-scene…

Probabilistic sampling methods have become very popular to solve single-shot path planning problems. Rapidly-exploring Random Trees (RRTs) in particular have been shown to be efficient in solving high dimensional problems. Even though…

We propose a novel methodology for robotic follow-ahead applications that address the critical challenge of obstacle and occlusion avoidance. Our approach effectively navigates the robot while ensuring avoidance of collisions and occlusions…

Robotic systems are routinely used in the logistics industry to enhance operational efficiency, but the design of robot workspaces remains a complex and manual task, which limits the system's flexibility to changing demands. This paper aims…

Deterministic methods for motion planning guarantee safety amidst uncertainty in obstacle locations by trying to restrict the robot from operating in any possible location that an obstacle could be in. Unfortunately, this can result in…

Trajectory planning is challenging for autonomous cars since they operate in unpredictable environments with limited sensor horizons. To incorporate new information as it is sensed, planning is done in a loop, with the next plan being…

We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with multiple robots to goal regions in the presence of other movable…

An efficient robot path-planning model is vulnerable to the number of search nodes, path cost, and time complexity. The conventional A-star (A*) algorithm outperforms other grid-based algorithms for its heuristic search. However it shows…

This paper explores a rapid, optimal smooth path-planning algorithm for robots (e.g., autonomous vehicles) in point cloud environments. Derivative maps such as dense point clouds, mesh maps, Octomaps, etc. are frequently used for path…

Performing large step-ups is a challenging task for a humanoid robot. It requires the robot to perform motions at the limit of its reachable workspace while straining to move its body upon the obstacle. This paper presents a non-linear…

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 address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with multiple robots to goal regions in the presence of other movable…

This paper deals with a path planning and intelligent control of an autonomous robot which should move safely in partially structured environment. This environment may involve any number of obstacles of arbitrary shape and size; some of…

Routing in NDN networks must scale in terms of forwarding table size and routing protocol overhead. Hyperbolic routing (HR) presents a potential solution to address the routing scalability problem, because it does not use traditional…

In this work, we present FRTree planner, a novel robot navigation framework that leverages a tree structure of free regions, specifically designed for navigation in cluttered and unknown environments with narrow passages. The framework…

The rise of machine learning methods on heavily resource constrained devices requires not only the choice of a suitable model architecture for the target platform, but also the optimization of the chosen model with regard to execution time…