Mobile robots, including ground robots, underwater robots, and unmanned aerial vehicles,
play an increasingly important role in people's work and lives. Path planning and obstacle …

Motion planning is critical to realize the autonomous operation of mobile robots. As the
complexity and randomness of robot application scenarios increase, the planning capability …

Quadrotors are agile. Unlike most other machines, they can traverse extremely complex
environments at high speeds. To date, only expert human pilots have been able to fully …

Autonomous, agile quadrotor flight raises fundamental challenges for robotics research in
terms of perception, planning, learning, and control. A versatile and standardized platform is …

Quadrotors are among the most agile flying robots. However, planning time-optimal
trajectories at the actuation limit through multiple waypoints remains an open problem. This …

In many robotic tasks, such as autonomous drone racing, the goal is to travel through a set of
waypoints as fast as possible. A key challenge for this task is planning the timeoptimal …

We propose a dual-resolution scheme to achieve time-efficient autonomous exploration with
one or many robots. The scheme maintains a high-resolution local map of the robot's …

Gradient-based planners are widely used for quadrotor local planning, in which a Euclidean
Signed Distance Field (ESDF) is crucial for evaluating gradient magnitude and direction …

This article is concerned with the problem of planning optimal maneuver trajectories and
guiding the mobile robot toward target positions in uncertain environments for exploration …

Recent advances in trajectory replanning have enabled quadrotor to navigate autonomously
in unknown environments. However, high-speed navigation still remains a significant …