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   Articles with "trajectory generation" as a keyword



Flying on point clouds: Online trajectory generation and autonomous navigation for quadrotors in cluttered environments

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recommendations! Published in 2019 at "Journal of Field Robotics"

DOI: 10.1002/rob.21842

Abstract: Micro aerial vehicles (MAVs), especially quadrotors, have been widely used in field applications, such as disaster response, field surveillance, and search‐and‐rescue. For accomplishing such missions in challenging environments, the capability of navigating with full autonomy… read more here.

Keywords: point; point clouds; clouds online; quadrotor ... See more keywords

Optimal Standing Jump Trajectory Generation for Biped Robots

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recommendations! Published in 2020 at "International Journal of Precision Engineering and Manufacturing"

DOI: 10.1007/s12541-020-00360-6

Abstract: One of the disadvantages of biped robots is the slow movement. Jumping or running can be the solution to this. This paper describes an optimal jump trajectory generation method for biped robots. In order to… read more here.

Keywords: trajectory; trajectory generation; standing jump; biped robots ... See more keywords

Onboard trajectory generation for gyroplane unpowered landing based on optimal lift-to-drag ratio target

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recommendations! Published in 2018 at "Aerospace Science and Technology"

DOI: 10.1016/j.ast.2018.09.023

Abstract: Abstract To achieve the autonomous unpowered landing for gyroplanes, an onboard trajectory generation method is presented in this paper. As a pivotal variable in the proposed method, the Lift-to-Drag Ratio will be uniquely determined in… read more here.

Keywords: trajectory generation; generation; lift drag; unpowered landing ... See more keywords

Energy Management and Guidance for Gyroplane Autonomous Unpowered Landing Based on Onboard Trajectory Generation

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recommendations! Published in 2019 at "IFAC-PapersOnLine"

DOI: 10.1016/j.ifacol.2019.11.251

Abstract: Abstract Benefiting from stable autorotation, the capacity of autonomous unpowered landing brings a gyroplane its feasibility of Short or Vertical Landing with high payload fraction, which furthermore extends its application prospects. Aiming to this mission,… read more here.

Keywords: trajectory generation; energy; management; unpowered landing ... See more keywords
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Trajectory generation and tracking on SE(3) for an underactuated AUV with disturbances

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recommendations! Published in 2019 at "IFAC-PapersOnLine"

DOI: 10.1016/j.ifacol.2019.12.314

Abstract: Abstract This paper describes the trajectory tracking of an underactuated autonomous underwater vehicle (AUV) with three control inputs (surge, yaw and pitch moment) that operates in the presence of time-varying disturbances. The AUV kinematics are… read more here.

Keywords: trajectory generation; tracking underactuated; kinematics; underactuated auv ... See more keywords

Trajectory generation algorithm for safe human-robot collaboration based on multiple depth sensor measurements

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recommendations! Published in 2018 at "Mechatronics"

DOI: 10.1016/j.mechatronics.2017.12.009

Abstract: Abstract Computing and modifying in real-time the trajectory of an industrial robot involved in a Human-Robot Collaboration (HRC) scenario is a challenging problem, mainly because of two conflicting requirements: ensuring the human worker’s safety and… read more here.

Keywords: trajectory generation; robot collaboration; generation algorithm; robot ... See more keywords

Trajectory generation and step planning of a 12 DoF biped robot on uneven surface

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recommendations! Published in 2018 at "Robotica"

DOI: 10.1017/s0263574718000188

Abstract: SUMMARY One of the primary goals of biped locomotion is to generate and execute joint trajectories on a corresponding step plan that takes the robot from a start point to a goal while avoiding obstacles… read more here.

Keywords: trajectory generation; energy; generation; generation step ... See more keywords
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Trajectory Generation for Unmanned Aerial Manipulators Through Quadratic Programming

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recommendations! Published in 2017 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2016.2633625

Abstract: In this paper, a trajectory generation approach using quadratic programming is described for aerial manipulation, i.e., for the control of an aerial vehicle equipped with a robot arm. The proposed approach applies the online active… read more here.

Keywords: trajectory generation; aerial manipulators; unmanned aerial; generation unmanned ... See more keywords

An Efficient Linear Programming-Based Time-Optimal Feedrate Planning Considering Kinematic and Dynamics Constraints of Robots

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recommendations! Published in 2024 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2024.3359547

Abstract: This letter investigates the time-optimal trajectory generation for a six-degrees-of-freedom articulated robot moving along a given parametric path. In the generation procedure, besides the velocity, acceleration, and joint torque, the jerk is also constrained to… read more here.

Keywords: efficient linear; time; linear programming; trajectory generation ... See more keywords

An Experiment and Simulation Study on Developing Algorithms for CAVs to Navigate Through Roadworks

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recommendations! Published in 2024 at "IEEE Transactions on Intelligent Transportation Systems"

DOI: 10.1109/tits.2023.3318370

Abstract: Navigating through roadworks represents one of the main sources of safety risk for Connected and Autonomous Vehicles (CAVs) due to the altered road layouts. The built-in base maps do not normally reflect these changes, causing… read more here.

Keywords: cavs; vehicle; trajectory generation; experiment simulation ... See more keywords

A Novel Learning-Based Trajectory Generation Strategy for a Quadrotor.

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recommendations! Published in 2022 at "IEEE transactions on neural networks and learning systems"

DOI: 10.1109/tnnls.2022.3217814

Abstract: In this article, a learning-based trajectory generation framework is proposed for quadrotors, which guarantees real-time, efficient, and practice-reliable navigation by online making human-like decisions via reinforcement learning (RL) and imitation learning (IL). Specifically, inspired by… read more here.

Keywords: based trajectory; generation; real time; trajectory generation ... See more keywords