@inproceedings{herynek21ecmr,
author = {Herynek, Jáchym and Váňa, Petr and Faigl, Jan},
title = {Finding 3D Dubins Paths with Pitch Angle Constraint Using Non-linear Optimization},
booktitle = {European Conference on Mobile Robots (ECMR)},
pages = {1–6},
year = {2021},
doi = {10.1109/ECMR50962.2021.9568787},
}
Towards Optimal Curvature-Constrained Tours in Robotic Applications
Duration: 2019–2022Description
The goal of the project is to develop a multi-goal planning framework to provide optimal or near-optimal curvature-constrained tours in robotic applications particularly motivated by mission planning for unmanned aerial vehicles and motion planning of steerable needle. Through the project objectives, we aim to deliver a computationally efficient solution to the particular robotic variants of the traveling salesman problem in which individual tours respect motion constraints of real robotic systems. In particular, we will focus on relatively small instances of the computationally challenging planning problem with the specific aim to deliver tight lower bounds and solution quality estimation.
Related publications
-
Herynek, Jáchym and Váňa, Petr and Faigl, Jan: Finding 3D Dubins Paths with Pitch Angle Constraint Using Non-linear Optimization, European Conference on Mobile Robots (ECMR), 2021, pp. 1–6.
picture_as_pdfPDF linkurl text_snippetBibTeX -
Kučerová, Kristýna and Váňa, Petr and Faigl, Jan: On Finding Time-efficient Trajectories for Fixed-wing Aircraft Using Dubins Paths with Multiple Radii, 35th Annual ACM Symposium on Applied Computing, 2020, pp. 829–831.
picture_as_pdfPDF linkurl text_snippetBibTeX@inproceedings{kucerova20sac, author = {Kučerová, Kristýna and Váňa, Petr and Faigl, Jan}, title = {On Finding Time-efficient Trajectories for Fixed-wing Aircraft Using Dubins Paths with Multiple Radii}, booktitle = {35th Annual ACM Symposium on Applied Computing}, pages = {829–831}, year = {2020}, doi = {10.1145/3341105.3374112}, } -
Kučerová, Kristýna and Váňa, Petr and Faigl, Jan: Variable-Speed Traveling Salesman Problem for Vehicles with Curvature Constrained Trajectories, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, pp. 4714–4719.
picture_as_pdfPDF linkurl text_snippetBibTeX@inproceedings{kucerova21iros, author = {Kučerová, Kristýna and Váňa, Petr and Faigl, Jan}, title = {Variable-Speed Traveling Salesman Problem for Vehicles with Curvature Constrained Trajectories}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, pages = {4714–4719}, year = {2021}, doi = {10.1109/IROS51168.2021.9636762}, } -
Pinsky, Doron and Váňa, Petr and Faigl, Jan and Salzman, Oren: T*ε—Bounded-Suboptimal Efficient Motion Planning for Minimum-Time Planar Curvature-Constrained Systems, IEEE Robotics and Automation Letters, 7 (2) :4102–4109, 2022.
picture_as_pdfPDF linkurl text_snippetBibTeX@article{pinsky22ral, author = {Pinsky, Doron and Váňa, Petr and Faigl, Jan and Salzman, Oren}, title = {T*ε—Bounded-Suboptimal Efficient Motion Planning for Minimum-Time Planar Curvature-Constrained Systems}, journal= {IEEE Robotics and Automation Letters}, volume= {7}, number= {2}, pages = {4102–4109}, year = {2022}, doi = {10.1109/LRA.2022.3149307}, } -
Sláma, Jakub and Váňa, Petr and Faigl, Jan: Risk-aware Trajectory Planning in Urban Environments with Safe Emergency Landing Guarantee, IEEE International Conference on Automation Science and Engineering (CASE), 2021, pp. 1606–1612.
picture_as_pdfPDF linkurl text_snippetBibTeX@inproceedings{slama21case, author = {Sláma, Jakub and Váňa, Petr and Faigl, Jan}, title = {Risk-aware Trajectory Planning in Urban Environments with Safe Emergency Landing Guarantee}, booktitle = {IEEE International Conference on Automation Science and Engineering (CASE)}, pages = {1606–1612}, year = {2021}, doi = {10.1109/CASE49439.2021.9551407}, } -
Sláma, Jakub and Váňa, Petr and Faigl, Jan: Generating Safe Corridors Roadmap for Urban Air Mobility, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022, pp. 11866–11871.
picture_as_pdfPDF linkurl text_snippetBibTeX@inproceedings{slama22iros, author = {Sláma, Jakub and Váňa, Petr and Faigl, Jan}, title = {Generating Safe Corridors Roadmap for Urban Air Mobility}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, pages = {11866–11871}, year = {2022}, doi = {10.1109/IROS47612.2022.9981326}, } -
Sláma, Jakub and Váňa, Petr and Faigl, Jan: GNG-based Clustering of Risk-aware Trajectories into Safe Corridors, Advances in Self-Organizing Maps, Learning Vector Quantization, Clustering and Data Visualization, 2022, pp. 87–97.
picture_as_pdfPDF linkurl text_snippetBibTeX@inproceedings{slama22wsom, author = {Sláma, Jakub and Váňa, Petr and Faigl, Jan}, title = {GNG-based Clustering of Risk-aware Trajectories into Safe Corridors}, booktitle = {Advances in Self-Organizing Maps, Learning Vector Quantization, Clustering and Data Visualization}, pages = {87–97}, year = {2022}, doi = {10.1007/978-3-031-15444-7_9}, } -
Váňa, Petr and Neto, Armando Alves and Faigl, Jan and Macharet, Dougles G.: Minimal 3D Dubins Path with Bounded Curvature and Pitch Angle, IEEE International Conference on Robotics and Automation (ICRA), 2020, pp. 8497–8503.
picture_as_pdfPDF linkurl text_snippetBibTeX@inproceedings{vana20icra, author = {Váňa, Petr and Neto, Armando Alves and Faigl, Jan and Macharet, Dougles G.}, title = {Minimal 3D Dubins Path with Bounded Curvature and Pitch Angle}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA)}, pages = {8497–8503}, year = {2020}, doi = {10.1109/ICRA40945.2020.9197084}, } -
Váňa, Petr and Faigl, Jan: Bounding optimal headings in the Dubins Touring Problem, 37th Annual ACM Symposium on Applied Computing, 2022, pp. 770-773.
picture_as_pdfPDF linkurl text_snippetBibTeX@inproceedings{vana22sac, author = {Váňa, Petr and Faigl, Jan}, title = {Bounding optimal headings in the Dubins Touring Problem}, booktitle = {37th Annual ACM Symposium on Applied Computing}, pages = {770-773}, year = {2022}, doi = {10.1145/3477314.3507350}, }