相关论文: Sharable Clothoid-based Continuous Motion Planning…

In this article, a novel combined aerial cooperative tethered carrying and path planning framework is introduced with a special focus on applications in confined environments. The proposed work is aiming towards solving the path planning…

This work presents an efficient method to solve a class of continuous-time, continuous-space stochastic optimal control problems of robot motion in a cluttered environment. The method builds upon a path integral representation of the…

For real applications of unmanned aerial vehicles, the capability of navigating with full autonomy in unknown environments is a crucial requirement. However, planning a shorter path with less computing time is contradictory. To address this…

This paper presents a novel feedback method on the motion planning for unicycle robots in environments with static obstacles, along with an extension to the distributed planning and coordination in multi-robot systems. The method employs a…

This paper presents a novel integrated approach to deal with the decision making and motion planning for lane-change maneuvers of autonomous vehicle (AV) considering social behaviors of surrounding traffic occupants. Reflected by driving…

Motion planners for mobile robots in unknown environments face the challenge of simultaneously maintaining both robustness against unmodeled uncertainties and persistent feasibility of the trajectory-finding problem. That is, while dealing…

Lattice-based motion planning is a hybrid planning method where a plan made up of discrete actions simultaneously is a physically feasible trajectory. The planning takes both discrete and continuous aspects into account, for example action…

Continuous optimization based motion planners require specifying a maneuver class before calculating the optimal trajectory for that class. In traffic, the intentions of other participants are often unclear, presenting multiple maneuver…

Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…

In this work, we present an approach to planning for humanoid mobility. Humanoid mobility is a challenging problem, as the configuration space for a humanoid robot is intractably large, especially if the robot is capable of performing many…

This paper proposes an adaptive lattice-based motion planning solution to address the problem of generating feasible trajectories for systems, represented by a linearly parameterizable non-linear model operating within a cluttered…

This paper proposes a fast and accurate trajectory planning algorithm for autonomous parking. Nominally, an optimal control problem should be formulated to describe this scheme, but the dimensionality of the optimal control problem is…

Rapid transit of emergency vehicles is critical for saving lives and reducing property loss but often relies on surrounding ordinary vehicles to cooperatively adjust their driving behaviors. It is important to ensure rapid transit of…

Human-level autonomous driving is an ever-elusive goal, with planning and decision making -- the cognitive functions that determine driving behavior -- posing the greatest challenge. Despite a proliferation of promising approaches, progress…

In mobile robot shared control, effectively understanding human motion intention is critical for seamless human-robot collaboration. This paper presents a novel shared control framework featuring planning-level intention prediction. A path…

Vehicle trajectory optimization is essential to ensure vehicles travel efficiently and safely. This paper presents an infrastructure assisted constrained connected automated vehicles (CAVs) trajectory optimization method on curved roads.…

To reduce the computational cost of humanoid motion generation, we introduce a new approach to representing robot kinematic reachability: the differentiable reachability map. This map is a scalar-valued function defined in the task space…

Open-loop end-to-end neural motion planners have recently been proposed to improve motion planning for robotic manipulators. These methods enable planning directly from sensor observations without relying on a privileged collision checker…

In this paper, we propose a sampling-based motion planning algorithm that finds an infinite path satisfying a Linear Temporal Logic (LTL) formula over a set of properties satisfied by some regions in a given environment. The algorithm has…

Parking a vehicle in tight spaces is a challenging task to perform due to the scarcity of feasible paths that are also collision-free. This paper presents a strategy to tackle this kind of maneuver with a modified Hybrid-A* path-planning…