Convex polytopes have compact representations and exhibit convexity, which makes them
suitable for abstracting obstacle-free spaces from various environments. Existing methods …

Optimization-based trajectory generation methods are widely used in whole-body planning
for robots. However, existing work either oversimplifies the robot's geometry and …

Successful path planning for Unmanned Aerial Vehicles (UAVs) in challenging
environments with narrow openings, such as disaster areas, requires attitude to be …

Autonomous exploration is a fundamental problem for various applications of unmanned
aerial vehicles (UAVs). Recently, LiDAR-based exploration has gained significant attention …

Trajectory generation in dynamic environments presents a significant challenge for
quadrotors, particularly due to the non-convexity in the spatial-temporal domain. Many …

The paper proposes a method that joins two line segments using planar Pythagorean
hodograph (PH) degree 7 Bezier transition curves. The objective is to make use of such …

This article proposes an approach for path planning in environments with obstacles. The
methodology integrates recent neural obstacle polygon extraction with visibility graph path …