200 citations · 353 across the 27 of their papers we have counts for
8 papers · 1 filter
Local Planner Bench: Benchmarking for Local Motion Planning
Max Spahn, Chadi Salmi, Javier Alonso-Mora
Local motion planning is a heavily researched topic in the field of robotics with many promising algorithms being published every year. However, it is difficult and time-consuming…
Error-Bounded Approximation of Pareto Fronts in Robot Planning Problems
Alexander Botros, Armin Sadeghi, Nils Wilde +2
Many problems in robotics seek to simultaneously optimize several competing objectives under constraints. A conventional approach to solving such multi-objective optimization probl…
Multi-robot Task Assignment for Aerial Tracking with Viewpoint Constraints
Aaron Ray, Alyssa Pierson, Hai Zhu +2
We address the problem of assigning a team of drones to autonomously capture a set desired shots of a dynamic target in the presence of obstacles. We present a two-stage planning p…
Dynamic Optimization Fabrics for Motion Generation
Max Spahn, Martijn Wisse, Javier Alonso-Mora
Optimization fabrics are a geometric approach to real-time local motion generation, where motions are designed by the composition of several differential equations that exhibit a d…
Improving Pedestrian Prediction Models with Self-Supervised Continual Learning
Luzia Knoedler, Chadi Salmi, Hai Zhu +2
Autonomous mobile robots require accurate human motion predictions to safely and efficiently navigate among pedestrians, whose behavior may adapt to environmental changes. This pap…
Regulations Aware Motion Planning for Autonomous Surface Vessels in Urban Canals
Jitske de Vries, Elia Trevisan, Jules van der Toorn +3
In unstructured urban canals, regulation-aware interactions with other vessels are essential for collision avoidance and social compliance. In this paper, we propose a regulations…
Continuous Occupancy Mapping in Dynamic Environments Using Particles
Gang Chen, Wei Dong, Peng Peng +2
Particle-based dynamic occupancy maps were proposed in recent years to model the obstacles in dynamic environments. Current particle-based maps describe the occupancy status in dis…
Decentralized Probabilistic Multi-Robot Collision Avoidance Using Buffered Uncertainty-Aware Voronoi Cells
Hai Zhu, Bruno Brito, Javier Alonso-Mora
In this paper, we present a decentralized and communication-free collision avoidance approach for multi-robot systems that accounts for both robot localization and sensing uncertai…