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 …

Policy search and model predictive control (MPC) are two different paradigms for robot
control: policy search has the strength of automatically learning complex policies using …

A recent trend in industrial robotics is to have robotic manipulators working side-by-side with
human operators. A challenging aspect of this coexistence is that the robot is required to …

This paper presents PANTHER, a real-time perception-aware (PA) trajectory planner for
multirotor-UAVs (Unmanned Aerial Vehicles) in dynamic environments. PANTHER plans …

Kinodynamic Motion Planning (KMP) is to find a robot motion subject to concurrent
kinematics and dynamics constraints. To date, quite a few methods solve KMP problems and …

In practical applications, autonomous quadrotors are still facing significant challenges, such
as the detection and avoidance of very small and even dynamic obstacles (eg, tree …

Trajectory planning for quadrotors in cluttered environments has been challenging in recent
years. While many trajectory planning frameworks have been successful, there still exists …

Autonomous navigation of quadrotor is required by many application scenarios, such as
exploration, search, and rescue. The trajectory planning algorithm is the core of autonomous …

The autonomous navigation of unmanned aerial vehicles in a rapidly changing environment,
such as avoiding small fast moving objects with onboard sensing, still remains a challenge …

Rapidly-exploring Random Trees (RRT) and its variations have emerged as a robust and
efficient tool for finding collision-free paths in robotic systems. However, adding dynamic …