6 papers
Geometric Model Predictive Path Integral for Agile UAV Control with Online Collision Avoidance
Pavel Pochobradský, OndÅej Procházka, Robert PÄniÄka +2
In this letter, we introduce Geometric Model Predictive Path Integral (GMPPI), a sampling-based controller capable of tracking agile trajectories while avoiding obstacles. In each…
Enhancing Sampling-based Planning with a Library of Paths
Michal MinaÅÃk, VojtÄch Vonásek, Robert PÄniÄka
Path planning for 3D solid objects is a challenging problem, requiring a search in a six-dimensional configuration space, which is, nevertheless, essential in many robotic applicat…
A Framework for Joint Grasp and Motion Planning in Confined Spaces
Martin Rudorfer, JiÅà Hartvich, VojtÄch Vonásek
Robotic grasping is a fundamental skill across all domains of robot applications. There is a large body of research for grasping objects in table-top scenarios, where finding suita…
KRRF: Kinodynamic Rapidly-exploring Random Forest algorithm for multi-goal motion planning
Petr Ježek, Michal MinaÅÃk, VojtÄch Vonásek +1
The problem of kinodynamic multi-goal motion planning is to find a trajectory over multiple target locations with an apriori unknown sequence of visits. The objective is to minimiz…
Asymptotically Optimal Path Planning With an Approximation of the Omniscient Set
Jonáš KÅÞ, VojtÄch Vonásek
The asymptotically optimal version of Rapidly-exploring Random Tree (RRT*) is often used to find optimal paths in a high-dimensional configuration space. The well-known issue of RR…
FlightForge: Advancing UAV Research with Procedural Generation of High-Fidelity Simulation and Integrated Autonomy
David Äapek, Jan HrnÄÃÅ, Tomáš BáÄa +4
Robotic simulators play a crucial role in the development and testing of autonomous systems, particularly in the realm of Uncrewed Aerial Vehicles (UAV). However, existing simulato…