相关论文: An Optimization-Based Planner with B-spline Parame…

We propose an optimization-based framework for robust contact-rich manipulation. Recent contact-implicit methods enable online hybrid planning across contact modes, allowing closed-loop manipulation for a given target state and contact…

Navigating a large-scaled robot in unknown and cluttered height-constrained environments is challenging. Not only is a fast and reliable planning algorithm required to go around obstacles, the robot should also be able to change its…

Dynamic path planning must remain reliable in the presence of sensing noise, uncertain localization, and incomplete semantic perception. We propose a practical, implementation-friendly planner that operates on occupancy grids and optionally…

This paper demonstrates how an efficient representation of the planned path using B-splines, and a construction procedure that takes advantage of the neural network's inductive bias, speed up both the inference and training of a DNN-based…

Long-term time series forecasting using transformers is hampered by the quadratic complexity of self-attention and the rigidity of uniform patching, which may be misaligned with the data's semantic structure. In this paper, we introduce the…

In this article, we propose a novel approach, called InPTC (Integrated Planning and Tube-Following Control), for prescribed-time collision-free navigation of wheeled mobile robots in a compact convex workspace cluttered with static,…

The resurgence of lunar operations requires advancements in cislunar navigation and Space Situational Awareness (SSA). Challenges associated to these tasks have created an interest in autonomous planning, navigation, and tracking…

The optimal design of multi-target rendezvous and flyby missions is challenging due to the combination of traditional spacecraft trajectory optimization and high-dimensional combinatorial problems. This often requires large-scale global…

In this paper, we present a receding-horizon, sampling-based planner capable of reasoning over multimodal policy distributions. By using the cross-entropy method to optimize a multimodal policy under a common cost function, our approach…

Many robot planning tasks require satisfaction of one or more constraints throughout the entire trajectory. For geometric constraints, manifold-constrained motion planning algorithms are capable of planning collision-free path between start…

This paper presents a novel quadratic programming (QP) approach for constrained control allocation that directly incorporates continuous-time actuator rate constraints without requiring slack variables. Over-actuated aircraft…

We present a safe-by-design approach to path planning and control for nonlinear systems. The planner uses a low fidelity model of the plant to compute reference trajectories by solving an MPC problem, while the plant being controlled…

We present an algorithm for controlling and scheduling multiple linear time-invariant processes on a shared bandwidth limited communication network using adaptive sampling intervals. The controller is centralized and computes at every…

To overcome the oscillation problem in the classical momentum-based optimizer, recent work associates it with the proportional-integral (PI) controller, and artificially adds D term producing a PID controller. It suppresses oscillation with…

The problem of optimal motion planing and control is fundamental in robotics. However, this problem is intractable for continuous-time stochastic systems in general and the solution is difficult to approximate if non-instantaneous nonlinear…

Autonomous ships are essentially designed and equipped to perceive their internal and external environment and subsequently perform appropriate actions depending on the predetermined objective(s) without human intervention. Consequently,…

A proper orthogonal decomposition-based B-splines B\'ezier elements method (POD-BSBEM) is proposed as a non-intrusive reduced-order model for uncertainty propagation analysis for stochastic time-dependent problems. The method uses a…

While Unmanned Aerial Vehicles (UAVs) have gained significant traction across various fields, path planning in 3D environments remains a critical challenge, particularly under size, weight, and power (SWAP) constraints. Traditional modular…

This paper proposes a solution to the problem of smooth path planning for mobile robots in dynamic and unknown environments. A novel concept of Time-Warped Grid is introduced to predict the pose of obstacles in the environment and avoid…

For autonomous crane lifting, optimal trajectories of the crane are required as reference inputs to the crane controller to facilitate feedforward control. Reducing the unactuated payload motion is a crucial issue for under-actuated tower…