相关论文: Pushing the Limits of Reactive Planning: Learning …

The hierarchy of global and local planners is one of the most commonly utilized system designs in autonomous robot navigation. While the global planner generates a reference path from the current to goal locations based on the pre-built…

Mobile robots are often tasked with repeatedly navigating through an environment whose traversability changes over time. These changes may exhibit some hidden structure, which can be learned. Many studies consider reactive algorithms for…

Modern autonomous driving algorithms often rely on learning the mapping from visual inputs to steering actions from human driving data in a variety of scenarios and visual scenes. The required data collection is not only labor intensive,…

Maintaining a map online is resource-consuming while a robust navigation system usually needs environment abstraction via a well-fused map. In this paper, we propose a mapless planner which directly conducts such abstraction on the unfused…

Robots operating in changing environments either predict obstacle changes and/or plan quickly enough to react to them. Predictive approaches require a strong prior about the position and motion of obstacles. Reactive approaches require no…

Local planning is an optimization process within a mobile robot navigation stack that searches for the best velocity vector, given the robot and environment state. Depending on how the optimization criteria and constraints are defined, some…

With the advancement of robotics, machine learning, and machine perception, increasingly more robots will enter human environments to assist with daily tasks. However, dynamically-changing human environments requires reactive motion plans.…

Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…

We present a learning-based mapless motion planner by taking the sparse 10-dimensional range findings and the target position with respect to the mobile robot coordinate frame as input and the continuous steering commands as output.…

In the area of autonomous driving, navigating off-road terrains presents a unique set of challenges, from unpredictable surfaces like grass and dirt to unexpected obstacles such as bushes and puddles. In this work, we present a novel…

Sampling-based planners are effective in many real-world applications such as robotics manipulation, navigation, and even protein modeling. However, it is often challenging to generate a collision-free path in environments where key areas…

Navigation and motion control of a robot to a destination are tasks that have historically been performed with the assumption that contact with the environment is harmful. This makes sense for rigid-bodied robots where obstacle collisions…

Fast and efficient sampling-based motion planning (SMP) is an integral component of many robotic systems, such as autonomous cars. A popular technique to improve the efficiency of these planners is to restrict search space in the planning…

The most common way for robots to handle environmental information is by using maps. At present, each kind of data is hosted on a separate map, which complicates planning because a robot attempting to perform a task needs to access and…

As the demands of autonomous mobile robots are increasing in recent years, the requirement of the path planning/navigation algorithm should not be content with the ability to reach the target without any collisions, but also should try to…

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…

We present a biologically inspired approach for path planning with dynamic obstacle avoidance. Path planning is performed in a condensed configuration space of a robot generated by self-organizing neural networks (SONN). The robot itself…

This paper addresses a safe planning and control problem for mobile robots operating in communication- and sensor-limited dynamic environments. In this case the robots cannot sense the objects around them and must instead rely on…

This paper aims to improve the computational efficiency of motion planning for mobile robots with non-trivial dynamics through the use of learned controllers. Offline, a system-specific controller is first trained in an empty environment.…

Last-mile delivery systems commonly propose the use of autonomous robotic vehicles to increase scalability and efficiency. The economic inefficiency of collecting accurate prior maps for navigation motivates the use of planning algorithms…