4 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…
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…
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…