相关论文: HyRRT-Connect: Bidirectional Motion Planning for H…

Planning the motion path for a tightly coupled dual-arm space manipulator under closed-chain constraints is a fundamental yet challenging problem in on-orbit assembly of large-scale space structures. The closed-chain constraints…

Continuum robots, characterized by their high flexibility and infinite degrees of freedom (DoFs), have gained prominence in applications such as minimally invasive surgery and hazardous environment exploration. However, the intrinsic…

It is necessary for a mobile robot to be able to efficiently plan a path from its starting, or current, location to a desired goal location. This is a trivial task when the environment is static. However, the operational environment of the…

Rapidly-exploring random trees (RRTs) have been widely adopted for robot motion planning due to their robustness and theoretical guarantees. However, existing RRT-based planners require explicit goal configurations specified as numerical…

Essential tasks in autonomous driving includes environment perception, detection and tracking, path planning and action control. This paper focus on path planning, which is one of the challenging task as it needs to find optimal path in…

Path planning in high-dimensional spaces poses significant challenges, particularly in achieving both time efficiency and a fair success rate. To address these issues, we introduce a novel path-planning algorithm, Zonal RL-RRT, that…

Efficiently finding safe and feasible trajectories for mobile objects is a critical field in robotics and computer science. In this paper, we propose SIL-RRT*, a novel learning-based motion planning algorithm that extends the RRT* algorithm…

Motion planning problems have been studied by both the robotics and the controls research communities for a long time, and many algorithms have been developed for their solution. Among them, incremental sampling-based motion planning…

In this chapter, we propose a novel approach for solving the coordination of a fleet of mobile robots, which consists of finding a set of collision-free trajectories for individual robots in the fleet. This problem is studied for several…

We present a sampling-based framework for multi-robot motion planning which combines an implicit representation of a roadmap with a novel approach for pathfinding in geometrically embedded graphs tailored for our setting. Our pathfinding…

Cooperative path planning is gaining its importance due to the increasing demand on using multiple unmanned aerial vehicles (UAVs) for complex missions. This work addresses the problem by introducing a new algorithm named MultiRRT that…

Safely deploying robots in uncertain and dynamic environments requires a systematic accounting of various risks, both within and across layers in an autonomy stack from perception to motion planning and control. Many widely used motion…

Motion planning problems can be simplified by admissible projections of the configuration space to sequences of lower-dimensional quotient-spaces, called sequential simplifications. To exploit sequential simplifications, we present the…

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…

During the last decade, incremental sampling-based motion planning algorithms, such as the Rapidly-exploring Random Trees (RRTs) have been shown to work well in practice and to possess theoretical guarantees such as probabilistic…

We present a hierarchical RRT-based motion planning strategy, Hierarchical Annotated-Skeleton Guided RRT (HAS-RRT), guided by a workspace skeleton, to solve motion planning problems. HAS-RRT provides up to a 91% runtime reduction and builds…

This paper addresses two challenges facing sampling-based kinodynamic motion planning: a way to identify good candidate states for local transitions and the subsequent computationally intractable steering between these candidate states.…

In this paper, a sampling-based trajectory planning algorithm for a laboratory-scale 3D gantry crane in an environment with static obstacles and subject to bounds on the velocity and acceleration of the gantry crane system is presented. The…

Recently, the concept of homotopic trajectory planning has emerged as a novel solution to navigation in large-scale obstacle environments for swarm robotics, offering a wide ranging of applications. However, it lacks an efficient homotopic…

For a nonlinear system (e.g. a robot) with its continuous state space trajectories constrained by a linear temporal logic specification, the synthesis of a low-level controller for mission execution often results in a non-convex…