4 accepted papers
We address the problem of reactive motion planning for quadrotors operating in unknown environments with dynamic obstacles. Our approach leverages a 4-dimensional spatio-temporal planner, integrated with vision-based Safe Flight Corridor (SFC) generation and trajectory optimization. Unlike prior met…
In this paper, we look into the minimum obstacle displacement (MOD) planning problem from a mobile robot motion planning perspective. This problem finds an optimal path to goal by displacing movable obstacles when no path exists due to collision with obstacles. However this problem is computationall…
Computing collision-free trajectories is of prime importance for safe navigation. We present an approach for computing the collision probability under Gaussian distributed motion and sensing uncertainty with the robot and static obstacle shapes approximated as ellipsoids. The collision condition is
One key assumption of Belief Space Planning (BSP) is that the data association is known perfectly. In this paper, we relax this assumption in the context of non-myopic planning as well as belief being a Gaussian Mixture Model (GMM). Interestingly, explicit reasoning about the data association within…