4 accepted papers
Beyond programming robots to accomplish a single high-level task at a time, people also hope robots follow instructions and complete a series of tasks while meeting their requirements. This paper presents an interactive software system that consists of a multiple-task linear temporal logic (LTL) pat…
In this letter, we present a volumetric mapping system that effectively calculates Occupancy Grid Maps (OGMs) and Euclidean Distance Transforms (EDTs) with parallel computing. Unlike these mappers for high-precision structural reconstruction, our system incrementally constructs global EDT and output
Motion primitives are frequently used to find valid local trajectories for mobile robots, especially in cases where fast replanning is required, but the onboard computational power is limited. In this letter, we present a practical framework for constructing motion primitives from boundary state con
In this paper, we present a trajectory generation method for quadrotors based on the optimal smoothing B-spline. Compared to existing methods which rely on polynomial splines or time optimal control techniques, our method systematically addresses the issue of axes-coupled and interval-wise constrain…