5 citations · 12 across the 20 of their papers we have counts for
14 papers · 1 filter
Distributed Motion Planning with Safety Guarantees for Self-Reconfiguring Robotic Boats
Alejandro Gonzalez-Garcia, Wei Wang, Wei Xiao +4
Aquatic self-reconfigurable robots must assemble into desired shapes while ensuring safe interactions among multiple agents. This paper proposes a hybrid framework that combines di…
Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions
Alejandro Gonzalez-Garcia, Dries Dirckx, Jan Swevers +1
Autonomous mobile robots operating in tight environments require motion planning frameworks that account for the physical footprint of the robot. Simplifying the geometry to a poin…
Accelerated Spline-Based Time-Optimal Motion Planning with Continuous Safety Guarantees for Non-Differentially Flat Systems
Dries Dirckx, Jan Swevers, Wilm Decré
Generating time-optimal, collision-free trajectories for autonomous mobile robots involves a fundamental trade-off between guaranteeing safety and managing computational complexity…
Multi-Agent Motion Planning on Industrial Magnetic Levitation Platforms: A Hybrid ADMM-HOCBF approach
Bavo Tistaert, Stan Servaes, Alejandro Gonzalez-Garcia +4
This paper presents a novel hybrid motion planning method for holonomic multi-agent systems. The proposed decentralised model predictive control (MPC) framework tackles the intract…
Fast Motion Planning for Non-Holonomic Mobile Robots via a Rectangular Corridor Representation of Structured Environments
Alejandro Gonzalez-Garcia, Sebastiaan Wyns, Sonia De Santis +2
We present a complete framework for fast motion planning of non-holonomic autonomous mobile robots in highly complex but structured environments. Conventional grid-based planners s…
Accelerated Multi-Modal Motion Planning Using Context-Conditioned Diffusion Models
Edward Sandra, Lander Vanroye, Dries Dirckx +3
Classical methods in robot motion planning, such as sampling-based and optimization-based methods, often struggle with scalability towards higher-dimensional state spaces and compl…
Safe Motion Planning and Control Using Predictive and Adaptive Barrier Methods for Autonomous Surface Vessels
Alejandro Gonzalez-Garcia, Wei Xiao, Wei Wang +5
Safe motion planning is essential for autonomous vessel operations, especially in challenging spaces such as narrow inland waterways. However, conventional motion planning approach…
Inland-LOAM: Voxel-Based Structural Semantic LiDAR Odometry and Mapping for Inland Waterway Navigation
Zhongbi Luo, Yunjia Wang, Jan Swevers +2
Accurate geospatial information is crucial for safe, autonomous Inland Waterway Transport (IWT), as existing charts (IENC) lack real-time detail and conventional LiDAR SLAM fails i…
Accelerated Reeds-Shepp and Under-Specified Reeds-Shepp Algorithms for Mobile Robot Path Planning
Ibrahim Ibrahim, Wilm Decré, Jan Swevers
In this study, we present a simple and intuitive method for accelerating optimal Reeds-Shepp path computation. Our approach uses geometrical reasoning to analyze the behavior of op…
Robustified Time-optimal Point-to-point Motion Planning and Control under Uncertainty
Shuhao Zhang, Jan Swevers
This paper proposes a novel approach to formulate time-optimal point-to-point motion planning and control under uncertainty. The approach defines a robustified two-stage Optimal Co…
Exact Wavefront Propagation for Globally Optimal One-to-All Path Planning on 2D Cartesian Grids
Ibrahim Ibrahim, Joris Gillis, Wilm Decré +1
This paper introduces an efficient compute and memory complexity algorithm for globally optimal path planning on 2D Cartesian grids. Unlike existing marching metho…
ASAP-MPC: An Asynchronous Update Scheme for Online Motion Planning with Nonlinear Model Predictive Control
Dries Dirckx, Mathias Bos, Bastiaan Vandewal +3
This paper presents a Nonlinear Model Predictive Control (NMPC) scheme targeted at motion planning for mechatronic motion systems, such as drones and mobile platforms. NMPC-based m…
Time-optimal Point-to-point Motion Planning: A Two-stage Approach
Shuhao Zhang, Jan Swevers
This paper proposes a two-stage approach to formulate the time-optimal point-to-point motion planning problem, involving a first stage with a fixed time grid and a second stage wit…
PRIEST: Projection Guided Sampling-Based Optimization For Autonomous Navigation
Fatemeh Rastgar, Houman Masnavi, Basant Sharma +3
Efficient navigation in unknown and dynamic environments is crucial for expanding the application domain of mobile robots. The core challenge stems from the nonavailability of a fe…