Sampling-based motion planning in scenarios with narrow passages

GACR funding

People: V. Vonasek

The project deals with multi-goal path planning in spaces where the presence of narrow passages can be expected. The motion planning problem leads to a search in high-dimensional configuration space, which can be searched using sampling-based approaches. When the obstacles limit the movements of the robots, narrow passages - low dimensional collision-free regions in the configuration space need to be searched. This is however, difficult due to their low volume. In this project, we aim to investigate how to guide the search via narrow passages using multiple guiding paths.The guiding paths will be found as solutions to a similar yet simpler problem. We aim to investigate methods to estimate homotopy classes in high-dimensional spaces. Moreover, new sampling-based planners for multi-goal path planning will be developed based on the idea of simultaneous exploration of the configuration space using multiple random trees. Finally, the project aims to utilize the guiding paths to improve the convergence of the asymptotically optimal version of sampling-based planners.

 

Finding topologically distinct paths

 

     

Publications

  1. Matej Novosad, Robert Penicka and Vojtech Vonasek. CTopPRM: Clustering Topological PRM for Planning Multiple Distinct Paths in 3D Environments. IEEE Robotics and Automation Letters 8(11):7336-7343, 2023. URL PDF, DOI BibTeX

    @article{novosad2023ctopprm,
	author = "Novosad, Matej and Penicka, Robert and Vonasek, Vojtech",
	journal = "IEEE Robotics and Automation Letters",
	title = "CTopPRM: Clustering Topological PRM for Planning Multiple Distinct Paths in 3D Environments",
	year = 2023,
	volume = 8,
	number = 11,
	pages = "7336-7343",
	doi = "10.1109/LRA.2023.3315539",
	url = "https://doi.org/10.1109%2Flra.2023.3315539",
	pdf = "https://arxiv.org/pdf/2305.13969.pdf"
}

  2. Jaroslav Janos, Robert Penicka and Vojtech Vonásek. Randomized multi-goal path planning for Dubins vehicles. In 2022 IEEE 27th International Conference on Emerging Technologies and Factory Automation (ETFA) (). 2022, 1-4. DOI BibTeX

    @inproceedings{janos2022randomized,
	author = "Janos, Jaroslav and Penicka, Robert and Vonásek, Vojtech",
	booktitle = "2022 IEEE 27th International Conference on Emerging Technologies and Factory Automation (ETFA)",
	title = "Randomized multi-goal path planning for Dubins vehicles",
	year = 2022,
	volume = "",
	number = "",
	pages = "1-4",
	doi = "10.1109/ETFA52439.2022.9921589"
}

  3. František Nekovář, Jan Faigl and Martin Saska. Vehicle Fault-Tolerant Robust Power Transmission Line Inspection Planning. In 2022 IEEE 27th International Conference on Emerging Technologies and Factory Automation (ETFA). 2022, 1-4. PDF, DOI BibTeX

    @inproceedings{9921692,
	author = "Nekovář, František and Faigl, Jan and Saska, Martin",
	booktitle = "2022 IEEE 27th International Conference on Emerging Technologies and Factory Automation (ETFA)",
	title = "Vehicle Fault-Tolerant Robust Power Transmission Line Inspection Planning",
	year = 2022,
	pages = "1-4",
	doi = "10.1109/ETFA52439.2022.9921692",
	pdf = "data/papers/Nekovar2022ETFA.pdf"
}

  4. Václav Pritzl, Matouš Vrba, Claudio Tortorici, Reem Ashour and Martin Saska. Adaptive estimation of UAV altitude in complex indoor environments using degraded and time-delayed measurements with time-varying uncertainties. Robotics and Autonomous Systems 160:104315, 2023. PDF, DOI BibTeX

    @article{pritzl2023RAS,
	title = "Adaptive estimation of UAV altitude in complex indoor environments using degraded and time-delayed measurements with time-varying uncertainties",
	journal = "Robotics and Autonomous Systems",
	volume = 160,
	pages = 104315,
	year = 2023,
	issn = "0921-8890",
	doi = "https://doi.org/10.1016/j.robot.2022.104315",
	author = "Václav Pritzl and Matouš Vrba and Claudio Tortorici and Reem Ashour and Martin Saska",
	pdf = "data/papers/pritzlRAS2022.pdf"
}

  5. Daniel Hert, Tomas Baca, Pavel Petracek, Vit Kratky, Vojtech Spurny, Matej Petrlik, Matous Vrba, David Zaitlik, Pavel Stoudek, Viktor Walter, Petr Stepan, Jiri Horyna, Vaclav Pritzl, Giuseppe Silano, Daniel Bonilla Licea, Petr Stibinger, Robert Penicka, Tiago Nascimento and Martin Saska. MRS Modular UAV Hardware Platforms for Supporting Research in Real-World Outdoor and Indoor Environments. In 2022 International Conference on Unmanned Aircraft Systems (ICUAS). June 2022, 1264–1273. PDF, DOI BibTeX

    @inproceedings{MRS2022ICUAS_HW,
	author = "{Hert}, Daniel and {Baca}, Tomas and {Petracek}, Pavel and {Kratky}, Vit and {Spurny}, Vojtech and {Petrlik}, Matej and {Vrba}, Matous and {Zaitlik}, David and {Stoudek}, Pavel and {Walter}, Viktor and {Stepan}, Petr and {Horyna}, Jiri and {Pritzl}, Vaclav and {Silano}, Giuseppe and {Bonilla Licea}, Daniel and {Stibinger}, Petr and {Penicka}, Robert and {Nascimento}, Tiago and {Saska}, Martin",
	booktitle = "2022 International Conference on Unmanned Aircraft Systems (ICUAS)",
	title = "{MRS Modular UAV Hardware Platforms for Supporting Research in Real-World Outdoor and Indoor Environments}",
	year = 2022,
	month = "June",
	organization = "IEEE",
	pdf = "data/papers/ICUAS22_MRS_HW.pdf",
	pages = "1264--1273",
	doi = "10.1109/ICUAS54217.2022.9836083"
}

  6. Jiri Horyna, Vit Kratky, Eliseo Ferrante and Martin Saska. Decentralized multi-robot velocity estimation for UAVs enhancing onboard camera-based velocity measurements. In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2022. PDF, DOI BibTeX

    @inproceedings{horyna2022estimation,
	author = "{Horyna}, Jiri and {Kratky}, Vit and {Ferrante}, Eliseo and {Saska}, Martin",
	booktitle = "{2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}",
	title = "{Decentralized multi-robot velocity estimation for UAVs enhancing onboard camera-based velocity measurements}",
	year = 2022,
	organization = "IEEE/RSJ",
	pdf = "data/papers/iros2022estimation.pdf",
	doi = "10.1109/IROS47612.2022.9981894"
}