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Motion Planning

21 papers with code ยท Robots

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Combinatorics of a Discrete Trajectory Space for Robot Motion Planning

25 May 2020

Motion planning is a difficult problem in robot control.

MOTION PLANNING

Learning from Naturalistic Driving Data for Human-like Autonomous Highway Driving

23 May 2020

In this study, a method of learning cost parameters of a motion planner from naturalistic driving data is proposed.

MOTION PLANNING

Enhancing Lattice-based Motion Planning with Introspective Learning and Reasoning

15 May 2020

Reasoning takes place to both verify that the learned models stays safe and to improve collision checking effectiveness in the motion planner by the use of more accurate execution predictions with a smaller safety margin.

MOTION PLANNING

Overlapping Schwarz Decomposition for Nonlinear Optimal Control

14 May 2020

Convergence is attained by updating primal-dual information at the boundaries of the overlapping regions.

MOTION PLANNING

Learning hierarchical behavior and motion planning for autonomous driving

8 May 2020

To improve the tactical decision-making for learning-based driving solution, we introduce hierarchical behavior and motion planning (HBMP) to explicitly model the behavior in learning-based solution.

AUTONOMOUS DRIVING DECISION MAKING MOTION PLANNING

Actor-Critic Reinforcement Learning for Control with Stability Guarantee

29 Apr 2020

Then we show that the stability condition could be exploited as a critic in the actor-critic RL framework and propose an efficient DRL algorithm to learn a controller/policy with a stability guarantee.

MOTION PLANNING

Online Mapping and Motion Planning under Uncertainty for Safe Navigation in Unknown Environments

26 Apr 2020

The proposed approach deals with the motion, probabilistic safety, and online computation constraints by: (i) incrementally mapping the surroundings to build an uncertainty-aware representation of the environment, and (ii) iteratively (re)planning trajectories to goal that are kinodynamically feasible and probabilistically safe through a multi-layered sampling-based planner in the belief space.

AUTONOMOUS NAVIGATION MOTION PLANNING

PBCS : Efficient Exploration and Exploitation Using a Synergy between Reinforcement Learning and Motion Planning

24 Apr 2020

In this paper, we propose a new algorithm called "Plan, Backplay, Chain Skills" (PBCS) that combines motion planning and reinforcement learning to solve hard exploration environments.

CONTINUOUS CONTROL EFFICIENT EXPLORATION MOTION PLANNING

Flexible and Efficient Long-Range Planning Through Curious Exploration

ICLR 2020

In contrast, deep reinforcement learning (DRL) methods use flexible neural-network-based function approximators to discover policies that generalize naturally to unseen circumstances.

IMITATION LEARNING MOTION PLANNING

Autonomous task planning and situation awareness in robotic surgery

19 Apr 2020

The framework consists of a task-level reasoning module based on answer set programming, a low-level motion planning module based on dynamic movement primitives, and a situation awareness module.

MOTION PLANNING