A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf.
Filters
Optimal Path Planning using RRT* based Approaches: A Survey and Future Directions
2016
International Journal of Advanced Computer Science and Applications
Preserved Fulltext
A significant body of research has addressed the problem of optimal path planning for mobile robots using RRT* based approaches. However, no updated survey on RRT* based approaches is available. ...
It has gained immense popularity due to its support for high dimensional complex problems. ...
Efficiency of Nearest Neighbor Search Computational complexity of near neighbor search in each iteration also grows as tree expands exponentially. ...
doi:10.14569/ijacsa.2016.071114
fatcat:unyhpepairf3bcgujrrwwhti6i
HRA∗: Hybrid randomized path planning for complex 3D environments
2013
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf.
We propose HRA*, a new randomized path planner for complex 3D environments. ...
The method includes also a series of heuristics to accelerate the search time. These include a cost penalty near obstacles, and a filter to prevent revisiting configurations. ...
nearest neighbor set. ...
doi:10.1109/iros.2013.6696588
dblp:conf/iros/AvilesA13
fatcat:5te7ueyp65hchplxnoehpoajki
Multilevel Motion Planning: A Fiber Bundle Formulation
[article]
2020
arXiv
pre-print
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL.
The file type is application/pdf.
Given such a structure and a corresponding admissible constraint function, we can develop highly efficient and optimal search-based motion planning methods for high-dimensional state spaces. ...
We show these algorithms to be probabilistically complete and almost-surely asymptotically optimal. ...
Acknowledgement The authors disclose receipt of the following financial support for the research, authorship and publication of this article: ...
arXiv:2007.09435v1
fatcat:oaxpk5576fcdjfrirmhanlvdgm
T^⋆-Lite: A Fast Time-Risk Optimal Motion Planning Algorithm for Multi-Speed Autonomous Vehicles
[article]
2020
arXiv
pre-print
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL.
The file type is application/pdf.
T^⋆-Lite uses the novel time-risk cost function of T^⋆; however, instead of a grid-based approach, it uses an asymptotically optimal sampling-based motion planner. ...
In this paper, we develop a new algorithm, called T^⋆-Lite, that enables fast time-risk optimal motion planning for variable-speed autonomous vehicles. ...
Up to 100 nearest-neighbors are considered when updating the search tree with a newly sampled state. The maximum connection distance between sampled states was set to 3 meters. ...
arXiv:2008.13048v1
fatcat:hq2pgmumpnhsvacf5soa4duram
Planning the Waypoint-Following Task for a Unicycle-Like Robot in Cluttered Environments
2015
Journal of Automation, Mobile Robotics & Intelligent Systems
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf.
Orienta on planning exploits proper es of the VFO controller used for subsequent mo on execu on. ...
Proposed twostage algorithm admits changes of robot mo on strategy (forward/backward movement) and has lower computaonal cost than the full configura on space search. ...
Thus, mentioned neighbors can be safely pruned without losing completeness of the search. ...
doi:10.14313/jamris_1-2015/10
fatcat:tfay7aavdrconnnc4svkh6pc6e
Survey of Robot 3D Path Planning Algorithms
2016
Journal of Control Science and Engineering
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2019; you can also visit the original URL.
The file type is application/pdf.
Robot 3D (three-dimension) path planning targets for finding an optimal and collision-free path in a 3D workspace while taking into account kinematic constraints (including geometric, physical, and temporal ...
For all these algorithms, they are analyzed from a time efficiency and implementable area perspective. ...
Reference [30] introduced PRM * to guarantee asymptotical optimality. ...
doi:10.1155/2016/7426913
fatcat:ownzdf2ssrbqjntwxejjn5twoq
Towards Fully Environment-Aware UAVs: Real-Time Path Planning with Online 3D Wind Field Prediction in Complex Terrain
[article]
2017
arXiv
pre-print
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2019; you can also visit the original URL.
The file type is application/pdf.
Performance optimizations, e.g. obstacle-aware sampling and fast 2.5D-map collision checks, render the planner 50% faster than the Open Motion Planning Library (OMPL) implementation. ...
This paves the way for follow-up research on fully-autonomous environment-aware navigation of UAVs in real-life missions and complex terrain. ...
Bruno Neininger and David Braig from the Zurich University of Applied Sciences both for providing the LIDAR wind measurements and assistance in evaluating the data. ...
arXiv:1712.03608v1
fatcat:dmriivvf45holmcgjtodt3gupe
A Survey of Motion Planning and Control Techniques for Self-driving Urban Vehicles
[article]
2016
arXiv
pre-print
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL.
The file type is application/pdf.
The two most commonly used strategies for implementing neighbors(x, V ) function are to take 1) the set of k-nearest neighbors to x or 2) the set of points lying within the ball centered at x with radius ...
Similarly, the term asymptotically optimal is used for algorithms that converge to optimal solution with probability one. ...
arXiv:1604.07446v1
fatcat:ajwztawbwra6tpw2zf67uncevm
Advanced Algorithms of Collision Free Navigation and Flocking for Autonomous UAVs
[article]
2021
arXiv
pre-print
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2021; you can also visit the original URL.
The file type is application/pdf.
The second part of this report addresses safe navigation for multi-UAV systems. Distributed motion coordination methods of multi-UAV systems for flocking and 3D area coverage are developed. ...
A desirable feature for UAVs is the ability to navigate and perform tasks autonomously with least human interaction. ...
For each invalid point in L, compute a safer position by moving it away from the nearest neighbors in W 𝑠 in the direction of the average estimated surface normals at the nearest neighbors with some distance ...
arXiv:2111.00166v1
fatcat:5jnrdu24xrbhraqzucsfsadl4y
A Comprehensive Review of Coverage Path Planning in Robotics Using Classical and Heuristic Algorithms
2021
IEEE Access
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2021; you can also visit the original URL.
The file type is application/pdf.
For more information, see https://creativecommons.org/licenses/by-nc-nd/4.0/ VOLUME 9, 2021 ...
Finally, we conclude numerous open research problems of the CPP and make suggestions for future research directions to gain insights. ...
The local search and the cost path could be improved by utilizing the nearest neighbor insertion algorithm and variable neighborhood strategy. Meaclem et al. [314] and Ding et al. ...
doi:10.1109/access.2021.3108177
fatcat:ddkiiuc2znfwhc6z3xqbk5oo7y
The VFO-Driven Motion Planning and Feedback Control in Polygonal Worlds for a Unicycle with Bounded Curvature of Motion
2017
Journal of Intelligent and Robotic Systems
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2018; you can also visit the original URL.
The file type is application/pdf.
Integrated motion planning and control for the purposes of maneuvering mobile robots under state-and input constraints is a problem of vital practical importance in applications of mobile robots such as ...
It is worth noting, that their efficient implementation can be a complex task due to auxiliary algorithmic problems such as, e.g., nearest-neighbor search. ...
On the other hand, in general, they guarantee only probabilistic completeness as opposed to resolution completeness and can suffer from slow convergence to optimal plans for nonholonomic systems. ...
doi:10.1007/s10846-017-0555-0
fatcat:tzv2hqz6fvg6vefpddbbrihxhi
Path Planning for Fixed-Wing Unmanned Aerial Vehicles
2016
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2022; you can also visit the original URL.
The file type is application/pdf.
A modification to the optimal Fast Marching Tree algorithm (FMT*) is presented. ...
Additional experiments have shown that computing non-optimal paths for start-goal configurations occurring rarely in real application scenarios, speeds up the computation of the paths up to 40 times. ...
Search for its nearest neighbor x cur ∈ V . Nearest refers to the neighbor x n for which the edge between x n and x r is optimal with respect to eq. 2.1. ...
doi:10.3929/ethz-a-010646508
fatcat:vdt7pnnbfbbijosqkx2gmanp24
Aalborg Universitet 3D Path Planning for Autonomous Aerial Vehicles in Constrained Spaces Schøler, Flemming 3D Path Planning for Autonomous Aerial Vehicles in Constrained Spaces 3D Path Planning for Autonomous Aerial Vehicles in Constrained Spaces
2012
unpublished
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2018; you can also visit the original URL.
The file type is application/pdf.
It was shown that a usable path can be found by searching the visibility graph using a graph search algorithm and that the found solution is close to the optimal for the given test scenario. ...
searching the graph for the shortest path. ...
fatcat:kkxks3l3ozg7fhgq4awkjwbwbe
Foreword of Special Issue on "E-Service and Applications"
2011
Journal of Computers
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2015; you can also visit the original URL.
The file type is application/pdf.
This special issue focuses on the state-of-the-art software technology related to these issues, including Resource management for cloud systems, Services integration and management in cloud systems, Optimal ...
This paper presents an e-service design on stroke-precaution for senior citizens, followed by its implementation and evaluation. ...
ACKNOWLEDGMENT The authors would like to express their appreciation for the financial support from the National Science Coun- ...
doi:10.4304/jcp.6.3.387-388
fatcat:6uf2oayvbbfibphaobqewpnkx4
On the Fundamental Relationships Among Path Planning Alternatives
2018
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL.
The file type is application/pdf.
In path sampling, the principle of locality is introduced as a basis for constructing an adaptive, probabilistic, geometric model to influence the selection of paths for collision test. ...
By recognizing such neighboring paths with related shapes and outcomes, up to 90% of paths may be tested implicitly in experiments, bypassing the traditional, expensive collision test and delivering a ...
Finding dispersion then amounts to iterating over X and finding the nearest neighbor in P at each point. ...
doi:10.1184/r1/6720917
fatcat:mstcgkamorfejljqr6jj26mwau
« Previous
Showing results 1 — 15 out of 21 results