Publications associées à Motion Planning for Urban Autonomous Driving using Bezier Curves and MPC

Dynamic Voxels Based on Ego-Conditioned Prediction: An Integrated Spatio-Temporal Framework for Motion Planning

Prediction is a vital component of motion planning for autonomous vehicles (AVs). By reasoning about the possible behavior of other target agents, the ego vehicle (EV) can navigate safely, efficiently, and politely. However, most of the existing work overl ...

IEEE Institute of Electrical and Electronics Engineers2024

Certification of Bottleneck Task Assignment With Shortest Path Criteria

Maryam Kamgarpour, Tony Alan Wood

Minimising the longest travel distance for a group of mobile robots with interchangeable goals requires knowledge of the shortest length paths between all robots and goal destinations. Determining the exact length of the shortest paths in an environment wi ...

2023

Towards Efficient Gas Leak Detection in Built Environments: Data-Driven Plume Modeling for Gas Sensing Robots

Alcherio Martinoli, Faezeh Rahbar, Chiara Ercolani, Wanting Jin

The deployment of robots for Gas Source Lo- calization (GSL) tasks in hazardous scenarios significantly reduces the risk to humans and animals. Gas sensing using mobile robots focuses primarily on simplified scenarios, due to the complexity of gas dispersi ...

2023

Motion Planning and Inertia Based Control for Impact Aware Manipulation

Aude Billard, Harshit Khurana

In this paper, we propose a metric called hitting flux which is used in the motion generation and controls for a robot manipulator to interact with the environment through a hitting or a striking motion. Given the task of placing a known object outside of ...

2023

Information-Driven Gas Distribution Mapping for Autonomous Mobile Robots

Alcherio Martinoli, Faezeh Rahbar, Chiara Ercolani

The ability to sense airborne pollutants with mobile robots provides a valuable asset for domains such as industrial safety and environmental monitoring. Oftentimes, this involves detecting how certain gases are spread out in the environment, commonly refe ...

MDPI2023

Optimization of robot configurations for motion planning in industrial riveting

Sylvain Calinon, Hakan Girgin, Teguh Santoso Lembono

Collaborative robots (cobots) have been increasingly used in the industry in recent years. The cobots are often 7-axis kinematically redundant manipulators. Exploiting these redundancies in industrial tasks is still a challenge as the change in the robot j ...

IEEE2021

Market-based Coordination in Dynamic Environments Based on Hoplites Framework

Alcherio Martinoli, Zeynab Talebpour, Stefano Savarè

This work focuses on multi-robot coordination based on the Hoplites framework for solving the multi-robot task allocation (MRTA) problem. Three variations of increasing complexity for the MRTA problem, spatial task allocation based on distance, spatial tas ...

2017

Time-Optimal Path-Following Operation in the Presence of Uncertainty

Dominique Bonvin, Alejandro Gabriel Marchetti, Timm Faulwasser, Predrag Milosavljevic

Path-following tasks, which refer to dynamic motion planning along pre-specified geometric references, are frequently encountered in applications such as milling, robot-supported measurements, and trajectory planning for autonomous vehicles. Different conv ...

Ieee2016

Crowds of Moving Objects: Navigation Planning and Simulation

Daniel Thalmann, Helena Stephanie Grillon Le Gallennec

This paper presents a solution to interactive navigation planning and real-time simulation of a very large number of entities moving in a virtual environment. From the environment geometry analysis, we deduce a structure called navigation graph, which is t ...

2007

Rigid body dynamics simulation for robot motion planning

Alan Ettlin

The development of robot motion planning algorithms is inherently a challenging task. This is more than ever true when the latest trends in motion planning are considered. Some motion planners can deal with kinematic and dynamic constraints induced by the ...

EPFL2006

Automatic Self-Calibration of a Vision System during Robot Motion

Roland Siegwart, Davide Scaramuzza

This paper presents a new technique to estimate the extrinsic parameters of a robot-vision sensor system. More in general, this technique can be adopted to calibrate any robot bearing sensor. It is based on the Extended Kalman Filter. It is very simple and ...

2006