相关论文: Learning-accelerated A* Search for Risk-aware Path…

The Multi-Objective Shortest Path Problem (MO-SPP), typically posed on a graph, determines a set of paths from a start vertex to a destination vertex while optimizing multiple objectives. In general, there does not exist a single solution…

Though great effort has been put into the study of path planning on urban roads and highways, few works have studied the driving strategy and trajectory planning in low-speed driving scenarios, e.g., driving on a university campus or…

A new path planning method for Mobile Robots (MR) has been developed and implemented. On the one hand, based on the shortest path from the start point to the goal point, this path planner can choose the best moving directions of the MR,…

Safe path planning is a crucial component in autonomous robotics. The many approaches to find a collision free path can be categorically divided into trajectory optimisers and sampling-based methods. When planning using occupancy maps, the…

Learning-based methodologies increasingly find applications in safety-critical domains like autonomous driving and medical robotics. Due to the rare nature of dangerous events, real-world testing is prohibitively expensive and unscalable.…

Autonomous agents face the challenge of coordinating multiple tasks (perception, motion planning, controller) which are computationally expensive on a single onboard computer. To utilize the onboard processing capacity optimally, it is…

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…

The ability to develop a high-level understanding of a scene, such as perceiving danger levels, can prove valuable in planning multi-robot search and rescue (SaR) missions. In this work, we propose to uniquely leverage natural language…

Goal-oriented Reinforcement Learning, where the agent needs to reach the goal state while simultaneously minimizing the cost, has received significant attention in real-world applications. Its theoretical formulation, stochastic shortest…

This paper proposes two novel path planning algorithms, Roadmap Hybrid A* and Waypoints Hybrid A*, for car-like autonomous vehicles in logistics and industrial contexts with obstacles (e.g., pallets or containers) and narrow corridors.…

Effective risk monitoring in dynamic environments such as disaster zones requires an adaptive exploration strategy to detect hidden threats. We propose a bi-level unmanned aerial vehicle (UAV) monitoring strategy that efficiently integrates…

We study exact, efficient and practical algorithms for route planning in large road networks. Routing applications often require integrating the current traffic situation, planning ahead with traffic predictions for the future, respecting…

An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…

The Shortest-Path Problem in Graph of Convex Sets (SPP in GCS) is a recently developed optimization framework that blends discrete and continuous decision making. Many relevant problems in robotics, such as collision-free motion planning,…

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…

This work addresses the problem of vehicle path planning in the presence of obstacles and uncertainties, which is a fundamental problem in robotics. While many path planning algorithms have been proposed for decades, many of them have dealt…

We study efficient and exact shortest path algorithms for routing on road networks with realistic traffic data. For navigation applications, both current (i.e., live) traffic events and predictions of future traffic flows play an important…

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…

Planning safe trajectories under uncertain and dynamic conditions makes the autonomous driving problem significantly complex. Current sampling-based methods such as Rapidly Exploring Random Trees (RRTs) are not ideal for this problem…

In recent years, consumer Unmanned Aerial Vehicles have become very popular, everyone can buy and fly a drone without previous experience, which raises concern in regards to regulations and public safety. In this paper, we present a novel…