We present the dynamic rotation-stacked visibility graph (dRVG), an online motion planner that guides polygonal robots to specified goals in initially unknown, static environ- ments. It merges local roadmaps from successive observations to plan collision-free translations and rotations without a uniform position grid. A spatial quadtree schedules sensing goals across regions to reduce repeated visits while retaining all orientation configurations for routing. Under exact sensing and geometric computation and star-shaped robot and envelope assumptions, dRVG with center scans is resolution-complete relative to full- map RVG at the same angular resolution. In experiments using footprint scans, dRVG solves all 140 cases across 20 difficult maps and seven angular resolutions within a 20 s planning budget, with a median planning time of 1.18 s at 360 orientation layers. Six microMVP demonstrations illustrate the complete online planning loop on a physical robot.
Gaussian splatting provides an explicit and efficiently rasterizable scene representation for robot navigation. However, individual Gaussian primitives may not reliably represent obstacles as they are jointly optimized through alpha-composited rendering from a finite set of reconstruction views. We propose 2DGS-Planner...
Autonomous navigation in dynamic environments is a critical challenge, particularly when spaces are shared with other mobile agents whose future trajectories are known. While traditional grid-based planners efficiently find collision-free paths, their reliance on stop-and-turn mechanics over $2^k$-connected grids produ...
In this paper, we propose RAEM, a robust autonomous exploration framework for quadruped robots operating in multi-floor environments. Most existing ground-robot exploration approaches rely on planar traversability representations, which cannot adequately represent the overlapping structures and cross-floor connectivity...
Zi-Kang Yuan, Yuanyuan Ren, Yian Wang et al.· 0 citations
Autonomous underwater vehicles (AUVs) require three‐dimensional (3D) path planning in environments where computational efficiency is as critical as solution quality. Sampling‐based planners, such as the RRT* family, incur a time complexity of that grows with the number of sampling points, creating a bottleneck for...
Ying-Jie Deng, Jing-Yi Zhao, Jing Yan et al.· Journal of Field Robotics· 0 citations
Planning safe and efficient flight trajectories for autonomous aerial robots in complex and unknown environments remains a challenging problem. Achieving high-quality local replanning is particularly difficult due to the inherent trade-off between computational efficiency and trajectory optimality, as well as the susce...
Traversal Risk Graphs (TRGs) provide a compact, terrain-aware representation for global navigation, but native TRG costs are computed over circular node neighborhoods and edge-aligned terrain regions rather than the robot's oriented body footprint. For wheeled-legged robots, this abstraction can miss partial support lo...
