相关论文: Multi-Objective Global Path Planning for Lunar Exp…

Replanning in temporal logic tasks is extremely difficult during the online execution of robots. This study introduces an effective path planner that computes solutions for temporal logic goals and instantly adapts to non-static and…

In this paper, we tackle the Multiple Watchman Route Problem (MWRP), which aims to find a set of paths that M watchmen can follow such that every location on the map can be seen by at least one watchman. First, we propose multiple methods…

The capability of autonomous exploration in complex, unknown environments is important in many robotic applications. While recent research on autonomous exploration have achieved much progress, there are still limitations, e.g., existing…

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…

Autonomous vehicle navigation in unstructured environments, such as forests and mountainous regions, presents significant challenges due to irregular terrain and complex road conditions. This work provides a comparative evaluation of…

Traversing environments with arbitrary obstacles poses significant challenges for bipedal robots. In some cases, whole body motions may be necessary to maneuver around an obstacle, but most existing footstep planners can only select from a…

This paper presents a pipeline that combines high-resolution orthomosaic maps generated from UAS imagery with GPS-based global navigation to guide a skid-steered ground robot. We evaluated three path planning strategies: A* Graph search,…

In this paper, we present a fast, on-line mapping and planning solution for operation in unknown, off-road, environments. We combine obstacle detection along with a terrain gradient map to make simple and adaptable cost map. This map can be…

Path finding algorithm addresses problem of finding shortest path from source to destination avoiding obstacles. There exist various search algorithms namely A*, Dijkstra's and ant colony optimization. Unlike most path finding algorithms…

Planetary exploration robots must navigate uneven terrain while building reliable maps for space missions. However, most existing methods incorporate traversability constraints but may not handle high uncertainty in elevation estimates near…

Routing problems such as Hamiltonian Path Problem (HPP), seeks a path to visit all the vertices in a graph while minimizing the path cost. This paper studies a variant, HPP with Probabilistic Terminals (HPP-PT), where each vertex has a…

Path planning for autonomous robots faces a fundamental trade-off between path length and obstacle clearance. While existing algorithms typically prioritize a single objective, we introduce the Unified Path Planner (UPP), a graph-search…

In this work, we consider the problem of planning for temporal logic tasks in large robot environments. When full task compliance is unattainable, we aim to achieve the best possible task satisfaction by integrating user preferences for…

This paper proposes MOON (Multi-Objective Optimization-driven Object-goal Navigation), a novel framework designed for efficient navigation in large-scale, complex indoor environments. While existing methods often rely on local heuristics,…

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…

The realization of Urban Air Mobility (UAM) necessitates scalable global path planning algorithms capable of ensuring safe navigation within complex urban environments. This paper proposes a multi-scale risk-aware cell decomposition method…

We study the problem of optimal multi-robot path planning on graphs (MPP) over four distinct minimization objectives: the total arrival time, the makespan (last arrival time), the total distance, and the maximum (single-robot traveled)…

In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…

Path planning in robotics often involves solving continuously valued, high-dimensional problems. Popular informed approaches include graph-based searches, such as A*, and sampling-based methods, such as Informed RRT*, which utilize informed…

The classic problem of constrained pathfinding is a well-studied, yet challenging, topic in AI with a broad range of applications in various areas such as communication and transportation. The Weight Constrained Shortest Path Problem…