Novel Probabilistic Collision Detection for Manipulator Motion Planning Using HNSW
X Zhang, B Tao, D Jiang, B Chen, D Tang, X Liu - Machines, 2024 - mdpi.com
Collision detection is very important for robot motion planning. The existing accurate
collision detection algorithms regard the evaluation of each node as a discrete event …
collision detection algorithms regard the evaluation of each node as a discrete event …
Collision Risk Assessment During Spacecraft Ultra-Close Range De-Tumbling for Arbitrarily Shaped Spinning Debris
T Liao, X Liu, G Dong, P Huang - IEEE Transactions on …, 2024 - ieeexplore.ieee.org
On-orbit services for large non-cooperative debris have significant benefits for the
sustainable development of the aerospace industry. However, the tumble motion and …
sustainable development of the aerospace industry. However, the tumble motion and …
An Efficient Trajectory Generation for Bi-copter Flight in Tight Space
X Dong, Y Cui, J Xiang, D Li, Z Tu - arXiv preprint arXiv:2406.00671, 2024 - arxiv.org
Unlike squared (or alike) quadrotors, elongated bi-copters leverage natural superiority in
crossing tight spaces. To date, extensive works have focused on the design, modeling, and …
crossing tight spaces. To date, extensive works have focused on the design, modeling, and …
Safe and Robust Motion Planning for Autonomous Navigation of Quadruped Robots in Cluttered Environments
H Liu, Q Yuan - IEEE Access, 2024 - ieeexplore.ieee.org
Quadruped robots, with their superior terrain adaptability and flexible movement capabilities,
demonstrate greater application potential in complex environments compared to traditional …
demonstrate greater application potential in complex environments compared to traditional …
Hybrid Dynamics Modeling and Trajectory Planning for a Cable-Trailer System with a Quadruped Robot
Inspired by the utilization of dogs in sled-pulling for transportation, we introduce a cable-
trailer system with a quadruped robot. The motion planning of the proposed robot system …
trailer system with a quadruped robot. The motion planning of the proposed robot system …
Whole-body Dynamic Collision Avoidance with Time-varying Control Barrier Functions
Recently, there has been increasing attention in robot research towards the whole-body
collision avoidance. In this paper, we propose a safety-critical controller that utilizes time …
collision avoidance. In this paper, we propose a safety-critical controller that utilizes time …