Robot navigation in crowded public spaces is a complex task that requires addressing a
variety of engineering and human factors challenges. These challenges have motivated a …

In this article, we tackle the problem of flying time-optimal trajectories through multiple
waypoints with quadrotors. State-of-the-art solutions split the problem into a planning task …

Automated guided vehicles (AGVs) have recently acquired a lot of interest in the academic
research field and industry applications due to a variety of advantages, including increased …

This paper presents an efficient and safe method to avoid static and dynamic obstacles
based on LiDAR. First, point cloud is used to generate a real-time local grid map for obstacle …

This article proposes a novel learning-based control policy with strong generalizability to
new environments that enables a mobile robot to navigate autonomously through spaces …

Robotic navigation in environments shared with other robots or humans remains
challenging because the intentions of the surrounding agents are not directly observable …

This work presents a method for multi-robot coordination based on a novel distributed
nonlinear model predictive control (NMPC) formulation for trajectory optimization and its …

Real-time kinodynamic trajectory planning in dy-namic environments is critical yet
challenging for autonomous driving. In this paper, we propose an efficient trajectory plan …

Ground robots navigating in complex, dynamic environments must compute collision-free
trajectories to avoid obstacles safely and efficiently. Nonconvex optimization is a popular …

We present a model predictive controller (MPC) that automatically discovers collision-free
locomotion while simultaneously taking into account the system dynamics, friction …