6 accepted papers
This work proposes a machine learning approach for the Three-Point Dubins Problem (3PDP) based on classification and regression. The 3PDP is a path planning problem with Dubins curves through 3 waypoints. It is required to find the heading at the intermediate point and the form of the two Dubins pat…
In this work, we propose the Dubins Path Smoothing (DPS) algorithm, a novel and efficient method for smoothing polylines in motion planning tasks. DPS applies to motion planning of vehicles with bounded curvature. In the letter, we show that the generated path: 1) has minimal length, 2) is <inline-f
Rescue missions in mountain environments are hardly achievable by standard legged robots—because of the high slopes—or by flying robots—because of limited payload capacity. We present a concept for a rope-aided climbing robot which can negotiate up-to-vertical slopes and carry heavy payloads. The ro…
A new solution to the multipoint Markov-Dubins problem via iterative dynamic programming is herein presented. The shortest path problem connecting a sequence of given points in the plane while maintaining angle continuity and bounded curvature is presented. As in the classic two points Dubins proble
A combined minimum time - minimum jerk traffic management system for the vehicle coordination in an automated warehouse is presented. The algorithm is organised in two steps: in the first, a simple minimum time optimisation problem is solved, in the second step, this time-optimal solution is refined
We consider a vehicle consisting of a robotic walking assistant pushed by a user. The robot can guide the person along a path and suggest a velocity by various means. The vehicle moves in a crowded environment and can detect other pedestrians in the surroundings. We propose a reactive planner that m