The structure is based on a graph-based approach which is suitable in a distributed setting. This formalization provides a graphical behavior description, an ...

The structure is based on a graph-based approach which is suitable in a distributed setting. This formalization provides a graphical behavior description, an ...

A new architectural proposal of motion planning software, which can be used by mobile robots and autonomous vehicles, is presented, which is based on a ...

In this work, we present a rule-defined motion planning algorithm for autonomous driving applications based on an adaptive Model Predictive Controller (MPC) ...

In this subsection we define a canonical form for a complete plan, and show the existence of an optimal complete plan that is canonical. This will allow us to ...

To fill this research gap and enrich the existing motion planning approaches, in this pa- per, we propose DynGMP, a graph neural network (GNN)-based planner ...

Motion Planner Architecture. ... The NMPH is seen to provide a smooth and optimal path as compared to the sharp-corner path generated by the graph-based planner.

In this work, we propose GPMP-GRAPH, a novel tra- jectory optimization algorithm that abates the local minima problem by simultaneously optimizing an ...

This work investigates a programming by demon- stration approach to learning motion trajectories for robotic manipulator tasks. Using a graph constructed to ...

This paper proposes a general planning network called Graph-based Motion Planning Networks (GrMPN), which will be able to i) learn and plan on general ...