4 accepted papers
Robot Operating System 2 (ROS 2) has become the standard framework in modern robotics, but its steep learning curve and complex development environment present significant barriers to newcomers. This paper presents an open-source web lab through which learners can start practicing ROS2 programming o…
This letter presents an online trajectory planning algorithm for an Unmanned Aerial Vehicle (UAV) to autonomously scan warehouse racks for inventory management. Our main motivation is to make small-sized UAVs with limited computing and sensing hardware capable of reliably performing the scanning tas
We present two real-time trajectory optimizers based on the Cross-Entropy Method for visibility-aware navigation. The two approaches differ in handling inequality constraints stemming from bounds on motion derivatives, collision avoidance, tracking error, etc. Our first optimizer augments the inequa
In this letter, we present a computationally efficient trajectory optimizer that can exploit GPUs to jointly compute trajectories of tens of agents in under a second. At the heart of our optimizer is a novel reformulation of the non-convex collision avoidance constraints that reduces the core comput