Browsing University of Waterloo by Subject "motion planning"
Now showing items 1-11 of 11
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3D Motion Planning using Kinodynamically Feasible Motion Primitives in Unknown Environments
(University of Waterloo, 2011-09-01)Autonomous vehicles are a great asset to society by helping perform many dangerous or tedious tasks. They have already been successfully employed for many practical applications, such as search and rescue, automated ... -
Cooperative Navigation for Teams of Mobile Robots
(University of Waterloo, 2008-02-05)Teams of mobile robots have numerous applications, such as space exploration, underground mining, warehousing, and building security. Multi-robot teams can provide a number of practical benefits in such applications, ... -
Discrete Path Planing Strategies for Coverage and Multi-Robot Rendezvous
(University of Waterloo, 2014-01-22)This thesis addresses the problem of motion planning for autonomous robots, given a map and an estimate of the robot pose within it. The motion planning problem for a mobile robot can be defined as computing a trajectory ... -
Human-Aware Motion Planning for Safe Human-Robot Collaboration
(University of Waterloo, 2020-10-08)With the rapid adoption of robotic systems in our daily lives, robots must operate in the presence of humans in ways that improve safety and productivity. Currently, in industrial settings, human safety is ensured through ... -
Integrated Task and Motion Planning of Multi-Robot Manipulators in Industrial and Service Automation
(University of Waterloo, 2021-02-01)Efficient coordination of several robot arms in order to carry out some given independent/cooperative tasks in a common workspace, avoiding collisions, is an appealing research problem that has been studied in different ... -
Kinodynamic Planning with μ-Calculus Specifications
(University of Waterloo, 2018-09-19)Motion planning problems involve determining appropriate control inputs to guide a system towards a desired endpoint. Sampling-based motion planning was developed as a technique for discretizing the state space of systems ... -
Lattice-Based Motion Planning with Optimal Motion Primitives
(University of Waterloo, 2021-12-23)In the field of navigation for autonomous vehicles, it is the responsibility of a local planner to compute reference trajectories that are then be followed by a tracking controller. These trajectories should be safe, ... -
Learning a Motion Policy to Navigate Environments with Structured Uncertainty
(University of Waterloo, 2020-01-24)Navigating in uncertain environments is a fundamental ability that robots must have in many applications such as moving goods in a warehouse or transporting materials in a hospital. While much work has been done on navigation ... -
Motion Planning and Safety for Autonomous Driving
(University of Waterloo, 2019-12-11)This thesis discusses two different problems in motion planning for autonomous driving. The first is the problem of optimizing a lattice planner control set for any particular autonomous driving task, with the goal of ... -
Safe and Efficient Navigation of a Mobile Robot: Path Planning Based on Hierarchical Topology Map and Motion Planning with Pedestrian Behavior Model
(University of Waterloo, 2022-09-02)Safety in mobile robot navigation is an essential aspect, but it is often accompanied by a trade-off of efficiency in different navigation steps. For global planning, safety is frequently handled by inflated obstacles. ... -
Scenario Modeling and Execution for Simulation Testing of Automated-Driving Systems
(University of Waterloo, 2022-09-28)Automated Driving Systems (ADS) have the potential to significantly impact the future of ground mobility. However, safety assurance is still a major obstacle. Field testing alone is impractical and simulation is required ...