相关论文: FC-Planner: A Skeleton-guided Planning Framework f…

For accomplishing a variety of missions in challenging environments, the capability of navigating with full autonomy while avoiding unexpected obstacles is the most crucial requirement for UAVs in real applications. In this paper, we…

This paper presents a novel multi-robot coverage path planning (CPP) algorithm - aka SCoPP - that provides a time-efficient solution, with workload balanced plans for each robot in a multi-robot system, based on their initial states. This…

Motivated by the requirements for effectiveness and efficiency, path-speed decomposition-based trajectory planning methods have widely been adopted for autonomous driving applications. While a global route can be pre-computed offline,…

This paper presents a learning-based extension to a Circular Field (CF)-based motion planner for efficient, collision-free trajectory generation in cluttered environments. The proposed approach overcomes the limitations of hand-tuned force…

Unmanned Aerial Vehicle (UAV) Coverage Path Planning (CPP) is critical for applications such as precision agriculture and search and rescue. While traditional methods rely on discrete grid-based representations, real-world UAV operations…

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…

Recently, many reactive trajectory planning approaches were suggested in the literature because of their inherent immediate adaption in the ever more demanding cluttered and unpredictable environments of robotic systems. However, typically…

Tunnel construction using the drill-and-blast method requires the 3D measurement of the excavation front to evaluate underbreak locations. Considering the inspection and measurement task's safety, cost, and efficiency, deploying lightweight…

Safe trajectory planning in complex environments must balance stringent collision avoidance with real-time efficiency, which is a long-standing challenge in robotics. In this work, we present a diffusion-based trajectory planning framework…

This paper presents the FS-Planner, a fast graph-search planner based on a modified Lazy Theta* algorithm that exploits the analytical properties of Euclidean Distance Fields (EDFs). We introduce a new cost function that integrates an…

Feature matching dominates the time costs in structure from motion (SfM). The primary contribution of this study is a GPU data schedule algorithm for efficient feature matching of Unmanned aerial vehicle (UAV) images. The core idea is to…

On construction sites, progress must be monitored continuously to ensure that the current state corresponds to the planned state in order to increase efficiency, safety and detect construction defects at an early stage. Autonomous mobile…

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…

The unmanned aerial vehicles (UAVs) are efficient tools for diverse tasks such as electronic reconnaissance, agricultural operations and disaster relief. In the complex three-dimensional (3D) environments, the path planning with obstacle…

We present a framework for deformable object manipulation that interleaves planning and control, enabling complex manipulation tasks without relying on high-fidelity modeling or simulation. The key question we address is when should we use…

Unmanned aerial vehicles (UAVs) are widely used platforms to carry data capturing sensors for various applications. The reason for this success can be found in many aspects: the high maneuverability of the UAVs, the capability of performing…

With the increasing integration of robots into human life, their role in architectural spaces where people spend most of their time has become more prominent. While motion capabilities and accurate localization for automated robots have…

Indoor infrastructure inspection, such as tunnels and industrial facilities, requires systematic surface coverage to ensure that all inspection targets are properly observed. Unmanned Aerial Vehicles (UAVs) offer an alternative to manual…

We present Smac Planner, an openly available, search-based planning framework that addresses the critical need for kinematically feasible path planning across diverse robot platforms. Smac Planner provides high-performance implementations…

This paper proposes Elastic Tracker, a flexible trajectory planning framework that can deal with challenging tracking tasks with guaranteed safety and visibility. Firstly, an object detection and intension-free motion prediction method is…