相关论文: REACT: Real-time Entanglement-Aware Coverage Path …
We present a new application of model checking which achieves real-time multi-step planning and obstacle avoidance on a real autonomous robot. We have developed a small, purpose-built model checking algorithm which generates plans in situ…
Estimating the 3D structure of the drivable surface and surrounding environment is a crucial task for assisted and autonomous driving. It is commonly solved either by using 3D sensors such as LiDAR or directly predicting the depth of points…
Current visual navigation systems often treat the environment as static, lacking the ability to adaptively interact with obstacles. This limitation leads to navigation failure when encountering unavoidable obstructions. In response, we…
Purpose: To develop a computationally viable autofocus method for estimating 3D rigid motion in MR imaging. Theory and Methods: The proposed method, REACT, assumes a piecewise-constant motion trajectory and estimates the rigid motion…
This letter addresses the 3D coverage path planning (CPP) problem for terrain reconstruction of unknown obstacle rich environments. Due to sensing limitations, the proposed method, called CT-CPP, performs layered scanning of the 3D region…
Reachability-based Trajectory Design (RTD) is a provably safe, real-time trajectory planning framework that combines offline reachable-set computation with online trajectory optimization. However, standard RTD implementations suffer from…
Although communication delays can disrupt multiagent systems, most of the existing multiagent trajectory planners lack a strategy to address this issue. State-of-the-art approaches typically assume perfect communication environments, which…
The paper presents a path planning algorithm based on RRT* that addresses the risk of grounding during evasive manoeuvres to avoid collision. The planner achieves this objective by integrating a collective navigation experience with the…
Reactive collision avoidance is essential for agile robots navigating complex and dynamic environments, enabling real-time obstacle response. However, this task is inherently challenging because it requires a tight integration of…
The problem of path planning in unknown environments remains a challenging problem - as the environment is gradually observed during the navigation, the underlying planner has to update the environment representation and replan, promptly…
We address the problem of reactive motion planning for quadrotors operating in unknown environments with dynamic obstacles. Our approach leverages a 4-dimensional spatio-temporal planner, integrated with vision-based Safe Flight Corridor…
Motion planning involves determining a sequence of robot configurations to reach a desired pose, subject to movement and safety constraints. Traditional motion planning finds collision-free paths, but this is overly restrictive in clutter,…
We present RENEW, a global path planner for Autonomous Surface Vehicle (ASV) in dynamic environments with external disturbances (e.g., water currents). RENEW introduces a unified risk- and energy-aware strategy that ensures safety by…
Using underwater robots instead of humans for the inspection of coastal piers can enhance efficiency while reducing risks. A key challenge in performing these tasks lies in achieving efficient and rapid path planning within complex…
Visual navigation using only a single camera and a topological map has recently become an appealing alternative to methods that require additional sensors and 3D maps. This is typically achieved through an "image-relative" approach to…
Most path planners assume fully known, static environments, assumptions that fail when robots navigate in dynamic and partially observable environments. SMART-3D addresses these issues by real-time replanning, where it morphs the underlying…
Robust navigation in changing marine environments requires autonomous systems capable of perceiving, reasoning, and acting under uncertainty. This study introduces a hybrid risk-aware navigation architecture that integrates probabilistic…
Search and rescue environments exhibit challenging 3D geometry (e.g., confined spaces, rubble, and breakdown), which necessitates agile and maneuverable aerial robotic systems. Because these systems are size, weight, and power (SWaP)…
This work establishes COMPRA, a compact and reactive autonomy framework for fast deployment of Micro Aerial Vehicles (MAVs) in subterranean Search-and-Rescue (SAR) missions. A COMPRA-enabled MAV is able to autonomously explore previously…
This paper develops and compares two motion planning algorithms for a tethered UAV with and without the possibility of the tether contacting the confined and cluttered environment. Tethered aerial vehicles have been studied due to their…