相关论文: PPNet: A Two-Stage Neural Network for End-to-end P…

Real-time and efficient path planning is critical for all robotic systems. In particular, it is of greater importance for industrial robots since the overall planning and execution time directly impact the cycle time and automation…

Path planning is a crucial component for realizing the autonomy of mobile robots. However, due to limited computational resources on mobile robots, it remains challenging to deploy state-of-the-art methods and achieve real-time performance.…

This paper describes Motion Planning Networks (MPNet), a computationally efficient, learning-based neural planner for solving motion planning problems. MPNet uses neural networks to learn general near-optimal heuristics for path planning in…

Being able to rapidly respond to the changing scenes and traffic situations by generating feasible local paths is of pivotal importance for car autonomy. We propose to train a deep neural network (DNN) to plan feasible and nearly-optimal…

Fast and efficient motion planning algorithms are crucial for many state-of-the-art robotics applications such as self-driving cars. Existing motion planning methods become ineffective as their computational complexity increases…

This paper presents a deep-learning based CPP algorithm, called Coverage Path Planning Network (CPPNet). CPPNet is built using a convolutional neural network (CNN) whose input is a graph-based representation of the occupancy grid map while…

Inspired by the UNet architecture of semantic image segmentation, we propose a lightweight UNet using depthwise separable convolutions (DSUNet) for end-to-end learning of lane detection and path prediction (PP) in autonomous driving. We…

Fast and efficient path generation is critical for robots operating in complex environments. This motion planning problem is often performed in a robot's actuation or configuration space, where popular pathfinding methods such as A*, RRT*,…

Consider a general path planning problem of a robot on a graph with edge costs, and where each node has a Boolean value of success or failure (with respect to some task) with a given probability. The objective is to plan a path for the…

In this paper, we propose a novel end-to-end approach for solving the multi-goal path planning problem in obstacle environments. Our proposed model, called S&Reg, integrates multi-task learning networks with a TSP solver and a path planner…

Making accurate motion prediction of the surrounding traffic agents such as pedestrians, vehicles, and cyclists is crucial for autonomous driving. Recent data-driven motion prediction methods have attempted to learn to directly regress the…

We consider optimal route planning when the objective function is a general nonlinear and non-monotonic function. Such an objective models user behavior more accurately, for example, when a user is risk-averse, or the utility function needs…

We revisit the problem of motion planning in the Gaussian belief space. Motivated by the fact that most existing sampling-based planners suffer from high computational costs due to the high-dimensional nature of the problem, we propose an…

Balancing the trade-off between safety and efficiency is of significant importance for path planning under uncertainty. Many risk-aware path planners have been developed to explicitly limit the probability of collision to an acceptable…

Path-planning for autonomous vehicles in threat-laden environments is a fundamental challenge. While traditional optimal control methods can find ideal paths, the computational time is often too slow for real-time decision-making. To solve…

Essential tasks in autonomous driving includes environment perception, detection and tracking, path planning and action control. This paper focus on path planning, which is one of the challenging task as it needs to find optimal path in…

Sampling-based motion planners have proven to be efficient solutions to a variety of high-dimensional, geometrically complex motion planning problems with applications in several domains. The traditional view of these approaches is that…

In this paper, we present a novel path planning algorithm to achieve fast path planning in complex environments. Most existing path planning algorithms are difficult to quickly find a feasible path in complex environments or even fail.…

The problem of maneuvering a vehicle through a race course in minimum time requires computation of both longitudinal (brake and throttle) and lateral (steering wheel) control inputs. Unfortunately, solving the resulting nonlinear optimal…

Path planning plays a crucial role in robot action execution, since a path or a motion trajectory for a particular action has to be defined first before the action can be executed. Most of the current approaches are iterative methods where…