相关论文: Sampling-Based Risk-Aware Path Planning Around Dyn…

Many exciting robotic applications require multiple robots with many degrees of freedom, such as manipulators, to coordinate their motion in a shared workspace. Discovering high-quality paths in such scenarios can be achieved, in principle,…

Sampling-based algorithms solve the path planning problem by generating random samples in the search-space and incrementally growing a connectivity graph or a tree. Conventionally, the sampling strategy used in these algorithms is biased…

This study investigates the application of unmanned aerial vehicles (UAVs) in public management, focusing on optimizing path planning to address challenges such as energy consumption, obstacle avoidance, and airspace constraints. As UAVs…

Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…

In this paper, we simultaneously address the problems of energy optimal and safe motion planning of electric vehicles (EVs) in a data-driven robust optimization framework. Safe maneuvers, especially in urban traffic, are characterized by…

This paper establishes a more formal definition for an Engagement Zone (EZ) and derives some basic EZs associated with fundamental engagement models associated with pursuit-evasion and turret-evasion. The basic EZs presented in this paper…

The paper introduces an asymptotically optimal lifelong sampling-based path planning algorithm that combines the merits of lifelong planning algorithms and lazy search algorithms for rapid replanning in dynamic environments where edge…

The ability to plan informative paths online is essential to robot autonomy. In particular, sampling-based approaches are often used as they are capable of using arbitrary information gain formulations. However, they are prone to local…

If we give a robot the task of moving an object from its current position to another location in an unknown environment, the robot must explore the map, identify all types of obstacles, and then determine the best route to complete the…

Path planning in dynamic environments is essential to high-risk applications such as unmanned aerial vehicles, self-driving cars, and autonomous underwater vehicles. In this paper, we generate collision-free trajectories for a robot within…

This paper addresses the problem of coordination of a fleet of mobile robots - the problem of finding an optimal set of collision-free trajectories for individual robots in the fleet. Many approaches have been introduced during the last…

Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…

The world we live in is full of technology and with each passing day the advancement and usage of UAVs increases efficiently. As a result of the many application scenarios, there are some missions where the UAVs are vulnerable to external…

In this work, we present a novel sampling-based path planning method, called SPRINT. The method finds solutions for high dimensional path planning problems quickly and robustly. Its efficiency comes from minimizing the number of collision…

Rapidly-exploring Random Tree (RRT) algorithms have been applied successfully to challenging robot motion planning and under-actuated nonlinear control problems. However a fundamental limitation of the RRT approach is the slow convergence…

Rapidly-exploring Random Tree Star(RRT*) is a recently proposed extension of Rapidly-exploring Random Tree (RRT) algorithm that provides a collision-free, asymptotically optimal path regardless of obstacle's geometry in a given environment.…

Sampling-based algorithms are widely used for motion planning in high-dimensional configuration spaces. However, due to low sampling efficiency, their performance often diminishes in complex configuration spaces with narrow corridors.…

This work presents a fully integrated tree-based combined exploration-planning algorithm: Exploration-RRT (ERRT). The algorithm is focused on providing real-time solutions for local exploration in a fully unknown and unstructured…

Autonomous exploration is a new technology in the field of robotics that has found widespread application due to its objective to help robots independently localize, scan maps, and navigate any terrain without human control. Up to present,…

Despite the performance advantages of modern sampling-based motion planners, solving high dimensional planning problems in near real-time remains a challenge. Applications include hyper-redundant manipulators, snake-like and humanoid…