Planning smooth trajectories is important for the safe, efficient and comfortable operation of mobile robots, such as wheeled robots moving in crowded environments or cars moving at high speed. Asymptotically optimal sampling-based motion planners …
Occupancy grids are a common framework in robotics for creating a spatial map of the environment. Traditional grid mapping algorithms assume that map voxel occupancies are independent of each other. In addition, they use a map representation where …
Planning safe, high-speed trajectories in unknown environments remains a major roadblock on the way toward achieving fast autonomous flight. Current state-of-the-art planning approaches use sampling-based methods or trajectory optimization to obtain …
Automatically diagnosing a complex system containing heterogeneous hard- and software components is a challenging task. To analyze the problem, we first describe different scenarios a diagnostic engine might be confronted with. Based on those …