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Path-Tracking Hybrid A* and Hierarchical MPC Framework for Autonomous Agricultural Vehicles
Mingke Lu, Han Gao, Haijie Dai +2
We propose a Path-Tracking Hybrid A* planner coupled with a hierarchical Model Predictive Control (MPC) framework for path smoothing in agricultural vehicles. The goal is to minimi…
SwarmCVT: Centroidal Voronoi Tessellation-Based Path Planning for Very-Large-Scale Robotics
James Gao, Jacob Lee, Yuting Zhou +3
Swarm robotics, or very large-scale robotics (VLSR), has many meaningful applications for complicated tasks. However, the complexity of motion control and energy costs stack up qui…
Haptic-ACT: Bridging Human Intuition with Compliant Robotic Manipulation via Immersive VR
Kelin Li, Shubham M Wagh, Nitish Sharma +4
Robotic manipulation is essential for the widespread adoption of robots in industrial and home settings and has long been a focus within the robotics community. Advances in artific…
A Novel Multivariate Skew-Normal Mixture Model and Its Application in Path-Planning for Very-Large-Scale Robotic Systems
Pingping Zhu, Chang Liu, Peter Estephan
This paper addresses the path-planning challenge for very large-scale robotic systems (VLSR) operating in complex and cluttered environments. VLSR systems consist of numerous coope…
SwarmPRM: Probabilistic Roadmap Motion Planning for Large-Scale Swarm Robotic Systems
Yunze Hu, Xuru Yang, Kangjie Zhou +5
Large-scale swarm robotic systems consisting of numerous cooperative agents show considerable promise for performing autonomous tasks across various sectors. Nonetheless, tradition…
Risk-Aware Non-Myopic Motion Planner for Large-Scale Robotic Swarm Using CVaR Constraints
Xuru Yang, Yunze Hu, Han Gao +5
Swarm robotics has garnered significant attention due to its ability to accomplish elaborate and synchronized tasks. Existing methodologies for motion planning of swarm robotic sys…