A review of mobile robot motion planning methods: from classical motion planning workflows to reinforcement learning-based architectures
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 …
complexity and randomness of robot application scenarios increase, the planning capability …
A comprehensive survey on non‐cooperative collision avoidance for micro aerial vehicles: Sensing and obstacle detection
In recent years, unmanned aerial vehicles (UAVs) have been confirmed as a powerful tool
for countless applications in nearly every industry, in which collision avoidance plays a vital …
for countless applications in nearly every industry, in which collision avoidance plays a vital …
Vision-only robot navigation in a neural radiance world
M Adamkiewicz, T Chen, A Caccavale… - IEEE Robotics and …, 2022 - ieeexplore.ieee.org
Neural Radiance Fields (NeRFs) have recently emerged as a powerful paradigm for the
representation of natural, complex 3D scenes. Neural Radiance Fields (NeRFs) represent …
representation of natural, complex 3D scenes. Neural Radiance Fields (NeRFs) represent …
isdf: Real-time neural signed distance fields for robot perception
We present iSDF, a continual learning system for real-time signed distance field (SDF)
reconstruction. Given a stream of posed depth images from a moving camera, it trains a …
reconstruction. Given a stream of posed depth images from a moving camera, it trains a …
Ego-planner: An esdf-free gradient-based local planner for quadrotors
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 …
Signed Distance Field (ESDF) is crucial for evaluating gradient magnitude and direction …
Raptor: Robust and perception-aware trajectory replanning for quadrotor fast flight
Recent advances in trajectory replanning have enabled quadrotor to navigate autonomously
in unknown environments. However, high-speed navigation still remains a significant …
in unknown environments. However, high-speed navigation still remains a significant …
Fuel: Fast uav exploration using incremental frontier structure and hierarchical planning
Autonomous exploration is a fundamental problem for various applications of unmanned
aerial vehicles (UAVs). Existing methods, however, were demonstrated to insufficient …
aerial vehicles (UAVs). Existing methods, however, were demonstrated to insufficient …
Teach-repeat-replan: A complete and robust system for aggressive flight in complex environments
In this article, we propose a complete and robust system for the aggressive flight of
autonomous quadrotors. The proposed system is built upon on the classical teach-and …
autonomous quadrotors. The proposed system is built upon on the classical teach-and …
Locomotion policy guided traversability learning using volumetric representations of complex environments
Despite the progress in legged robotic locomotion, autonomous navigation in unknown
environments remains an open problem. Ideally, the navigation system utilizes the full …
environments remains an open problem. Ideally, the navigation system utilizes the full …
Robust real-time uav replanning using guided gradient-based optimization and topological paths
Gradient-based trajectory optimization (GTO) has gained wide popularity for quadrotor
trajectory replanning. However, it suffers from local minima, which is not only fatal to safety …
trajectory replanning. However, it suffers from local minima, which is not only fatal to safety …