9 accepted papers
Real-time path planning in unknown non-convex environments is challenging, as obstacle updates can invalidate existing paths while narrow passages restrict feasible connectivity. This paper presents textbf{InBi-RRT}, an incremental bidirectional tree-based framework that grows a reverse tree from th…
In this letter, we introduce a human-centered shared autonomy approach to address over-assistance in remote robot operation, aimed at reducing control conflicts and enhancing user experience. We model the human-robot team as a partially observable Markov decision process (POMDP) that incorporates un
This paper presents a cooperative mechanism for capturing a fast evader in a 2D space with obstacles, using a multi-robot system with a positive capture radius. First, we define the dominance region with a Cartesian oval, parameterized by the speed ratio and capture radius, and derive the minimum nu
Recent advances in sampling-based algorithms have enhanced the ability of mobile robots to navigate safely in environments with localization uncertainty. However, navigating narrow passages remains a significant challenge due to the heightened risks posed by uncertainty. In this letter, we present a
For a high-value attacker, relocating it is more valuable than destroying it. This relocation issue involves luring an adversarial agent along a predefined path to reach a goal in a non-convex domain. Here, we define it as a collaborative constrained target-reaching (CTR) problem. We introduce a nov
Path planning in unpredictable dynamic environments remains a challenging problem due to the unpredictable appearance, disappearance, and movement of dynamic obstacles during navigation. To address this problem, we propose a reverse tree guided rapid exploration random tree (RTRRT) algorithm that ca…
In the realm of semi-autonomous mobile robots designed for remote operation with humans, current variable autonomy approaches struggle to reconcile conflicting intents while ensuring compliance, autonomy, and safety. To address this challenge, we propose a bidirectional trust-based variable autonomy
Most of the existing underwater legged robots are capable of moving on small-angled slopes, but few of them can climb the large-angled slope or transition from one plane to another, such as transition from horizontal plane to vertical plane. In this paper, we propose a motion planning method of a hy
This paper studies the multivehicle task assignment problem where several dispersed vehicles need to visit a set of target locations in a time-invariant drift field while trying to minimize the total travel time. Using optimal control theory, we first design a path planning algorithm to minimize the