Trajectory Planning

Trajectory planning for industrial robots consists of moving the tool center point from point A to point B while avoiding body collisions over time. Trajectory planning is sometimes referred to as motion planning and erroneously as path planning. Trajectory planning is distinct from path planning in that it is parametrized by time. Essentially trajectory planning encompasses path planning in addition to planning how to move based on velocity, time, and kinematics.

Papers

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Showing 21–30 of 324 papers

Title	Date	Tasks	Status	Hype
GNN-Empowered Effective Partial Observation MARL Method for AoI Management in Multi-UAV Network	Aug 18, 2024	Distributed OptimizationEfficient Neural Network	CodeCode Available	1
LTLDoG: Satisfying Temporally-Extended Symbolic Constraints for Safe Diffusion-based Planning	May 7, 2024	Offline RLRobot Manipulation	CodeCode Available	1
Reinforced Imitative Trajectory Planning for Urban Automated Driving	Oct 21, 2024	Imitation Learningreinforcement-learning	CodeCode Available	1
Dynamic Neural Potential Field: Online Trajectory Optimization in Presence of Moving Obstacles	Oct 9, 2024	Collision AvoidanceModel Predictive Control	CodeCode Available	1
Lane Graph as Path: Continuity-preserving Path-wise Modeling for Online Lane Graph Construction	Mar 15, 2023	Autonomous DrivingAutonomous Vehicles	CodeCode Available	1
Lane Graph Estimation for Scene Understanding in Urban Driving	May 1, 2021	Autonomous DrivingAutonomous Vehicles	CodeCode Available	1
Convex Risk Bounded Continuous-Time Trajectory Planning and Tube Design in Uncertain Nonconvex Environments	May 26, 2023	Trajectory Planning	CodeCode Available	1
MTP: Multi-Hypothesis Tracking and Prediction for Reduced Error Propagation	Oct 18, 2021	PredictionTrajectory Planning	CodeCode Available	1
DPMPC-Planner: A real-time UAV trajectory planning framework for complex static environments with dynamic obstacles	Sep 14, 2021	Model Predictive ControlNavigate	CodeCode Available	1
GAMMA: Generalizable Articulation Modeling and Manipulation for Articulated Objects	Sep 28, 2023	Manner Of Articulation DetectionRobot Manipulation	CodeCode Available	1

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All datasets nuScenes ToolBench

Benchmark Results

#	Model	Metric	Claimed	Verified	Status
1	ST-P3 (Lidar)	Collision-3s	1.27	—	Unverified
2	UniAD	Collision-3s	0.71	—	Unverified
3	AD-MLP	Collision-3s	0.24	—	Unverified
4	VAD-Base [jiang2023vad]	Collision-3s	0.24	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	GPT4-TOPGUN	Win rate	86.54	—	Unverified
2	Attention Bucket	Win rate	71.5	—	Unverified
3	GPT4- DFSDT	Win rate	70.4	—	Unverified