相关论文: Narrow Passage Path Planning using Collision Const…

Autonomous driving requires reliable collision avoidance in dynamic environments. Nonlinear Model Predictive Controllers (NMPCs) are suitable for this task, but struggle in time-critical scenarios requiring high frequency. To meet this…

We consider the problem of cooperative intersection management. It arises in automated transportation systems for people or goods but also in multi-robots environment. Therefore many solutions have been proposed to avoid collisions. The…

We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…

In this article, we consider a multi-agent path planning problem in a partially impeded environment. The impeded environment is represented by a graph with select road segments (edges) in disrepair impeding vehicular movement in the road…

Convex optimizers have known many applications as differentiable layers within deep neural architectures. One application of these convex layers is to project points into a convex set. However, both forward and backward passes of these…

Real-world environments are inherently uncertain, and to operate safely in these environments robots must be able to plan around this uncertainty. In the context of motion planning, we desire systems that can maintain an acceptable level of…

Many methods in learning from demonstration assume that the demonstrator has knowledge of the full environment. However, in many scenarios, a demonstrator only sees part of the environment and they continuously replan as they gather…

Constrained non-convex optimization problems frequently arise in control applications. Solving such problems is inherently challenging, as existing methods often converge to suboptimal local minima or incur prohibitive computational costs.…

The problem of constrained coverage path planning involves a robot trying to cover maximum area of an environment under some constraints that appear as obstacles in the map. Out of the several coverage path planning methods, we consider…

Constrained motion planning is a challenging field of research, aiming for computationally efficient methods that can find a collision-free path on the constraint manifolds between a given start and goal configuration. These planning…

This paper presents a minimum displacement motion planning problem wherein obstacles are displaced by a minimum amount to find a feasible path. We define a metric for robot-obstacle intersection that measures the extent of the intersection…

This paper studies path synthesis for nonholonomic mobile robots moving in two-dimensional space. We first address the problem of interpolating paths expressed as sequences of straight line segments, such as those produced by some planning…

This paper introduces the covering path problem on a grid (CPPG) which finds the cost-minimizing path connecting a subset of points in a grid such that each point that needs to be covered is within a predetermined distance of a point from…

Path planning for 3D solid objects is a challenging problem, requiring a search in a six-dimensional configuration space, which is, nevertheless, essential in many robotic applications such as bin-picking and assembly. The commonly used…

This paper studies a combinatorial optimization problem which is obtained by combining the flow shop scheduling problem and the shortest path problem. The objective of the obtained problem is to select a subset of jobs that constitutes a…

Given two points in the plane, and a set of "obstacles" given as curves through the plane with assigned weights, we consider the point-separation problem, which asks for the minimum-weight subset of the obstacles separating the two points.…

This paper presents a brief survey (in Chinese) on path planning and feedrate interpolation. Numerical control technology is widely employed in the modern manufacturing industry, and related research has been emphasized by academia and…

The discretization of constrained nonlinear optimization problems arising in the field of topology optimization yields algebraic systems which are challenging to solve in practice, due to pathological ill-conditioning, strong nonlinearity…

Indoor motion planning focuses on solving the problem of navigating an agent through a cluttered environment. To date, quite a lot of work has been done in this field, but these methods often fail to find the optimal balance between…

In this paper, we propose a new method for path planning to a point for robot in environment with obstacles. The resulting algorithm is implemented as a simple variation of Dijkstra's algorithm. By adding a constraint to the shortest-path,…