5 papers
Proactive Local-Minima-Free Robot Navigation: Blending Motion Prediction with Safe Control
Yifan Xue, Ze Zhang, Knut à kesson +1
This work addresses the challenge of safe and efficient mobile robot navigation in complex dynamic environments with concave moving obstacles. Reactive safe controllers like Contro…
Infrastructure-based Autonomous Mobile Robots for Internal Logistics -- Challenges and Future Perspectives
Erik Brorsson, Kristian Ceder, Ze Zhang +11
The adoption of Autonomous Mobile Robots (AMRs) for internal logistics is accelerating, with most solutions emphasizing decentralized, onboard intelligence. While AMRs in indoor en…
Collision-Free Navigation of Mobile Robots via Quadtree-Based Model Predictive Control
Osama Al Sheikh Ali, Sotiris Koutsoftas, Ze Zhang +2
This paper presents an integrated navigation framework for Autonomous Mobile Robots (AMRs) that unifies environment representation, trajectory generation, and Model Predictive Cont…
Gradient Field-Based Dynamic Window Approach for Collision Avoidance in Complex Environments
Ze Zhang, Yifan Xue, Nadia Figueroa +1
For safe and flexible navigation in multi-robot systems, this paper presents an enhanced and predictive sampling-based trajectory planning approach in complex environments, the Gra…
Future-Oriented Navigation: Dynamic Obstacle Avoidance with One-Shot Energy-Based Multimodal Motion Prediction
Ze Zhang, Georg Hess, Junjie Hu +3
This paper proposes an integrated approach for the safe and efficient control of mobile robots in dynamic and uncertain environments. The approach consists of two key steps: one-sh…