This letter presents a method for local motion planning in unstructured environments with
static and moving obstacles, such as humans. Given a reference path and speed, our …

From quadrotors delivering packages in urban areas to robot arms moving in confined
warehouses, motion planning around obstacles is a core challenge in modern robotics …

Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for
optimal robot navigation with safety guarantees. Previous work on optimal motion planning …

In this paper, we present a real-time whole-body planner for collision-free legged mobile
manipulation. We enforce both self-collision and environment-collision avoidance as soft …

A mobile robot needs to be aware of its environment to interact with it safely. We propose a
receding horizon control scheme for mobile manipulators that tracks task space reference …

In the recent past, several sampling-based algorithms have been proposed to compute
trajectories that are collision-free and dynamically-feasible. However, the outputs of such …

One of the most difficult challenges in robot motion planning is to account for the behavior of
other moving agents, such as humans. Commonly, practitioners employ predictive models to …

An autonomous vehicle intended to carry passengers must be able to generate trajectories
on-line that are safe, smooth and comfortable. Here, we propose a strategy for robot …

We present a new method for local obstacle avoidance by indoor mobile robots that
formulates the problem as one of constrained optimization in velocity space. Constraints that …

We propose a two-level hierarchy for planning collision-free trajectories in time varying
environments. Global geometric algorithms for trajectory planning are used in conjunction …