We present a new optimization-based approach for robotic motion planning among
obstacles. Like CHOMP (Covariant Hamiltonian Optimization for Motion Planning), our …

We explore the challenges of planning trajectories for quadrotors through cluttered indoor
environments. We extend the existing work on polynomial trajectory generation by …

A practical approach for generating motion paths with continuous steering for car-like mobile
robots is presented here. This paper addresses two key issues in robot motion planning; …

Simulations of rigid objects with contact resolution and friction are ubiquitous in computer
graphics and robotics. Rigid body models do not deform. Equipped with just rotational and …

In this paper, we describe trajectory planning and state estimation algorithms for aggressive
flight of micro aerial vehicles in known, obstacle-dense environments. Finding aggressive …

This paper presents an effective trajectory generation algorithm to shorten and smooth the
jerky paths obtained from the sampling-based planners in cluttered environments. We utilize …

This article answers fundamental safety questions for ground robot navigation: under which
circumstances does which control decision make a ground robot safely avoid obstacles …

Modern sampling-based motion planning algorithms typically take between hundreds of
milliseconds to dozens of seconds to find collision-free motions for high degree-of-freedom …

We introduce a large-scale benchmark for continuous collision detection (CCD) algorithms,
composed of queries manually constructed to highlight challenging degenerate cases and …

Abstract Service robots are appearing more and more in our daily life. The development of
service robots combines multiple fields of research, from object perception to object …