IDEAS Lab

Motion and path planning

Overview

Motion planning is a fundamental problem in robotics. It may be stated as finding a path for a robot or agent, such that the robot or agent may move along this path from its initial configuration to goal configuration without colliding with any static obstacles or other robots or agents in the environment. Motion planning algorithms are used in many fields, including bioinformatics, character animation, computer-aided design and computer-aided manufacturing (CAD/CAM), industrial automation, robotic surgery, and single and multiple robot navigation in both two and three dimensions.

Publications

SG-LSTM: Social Group LSTM for Robot Navigation Through Dense Crowds
Rashmi Bhaskara, Maurice Chiu, Aniket Bera
arXiv.org  ·  08 Mar 2023
Robot navigationMultiagent systemsAffective ComputingMotion and Path Planning
Crowd-Aware Multi-Agent Pathfinding With Boosted Curriculum Reinforcement Learning
Phu Pham, Aniket Bera
arXiv.org  ·  19 Sep 2023
Multiagent systemsPath planningRobot navigationMotion and Path Planning
DREAM: Decentralized Reinforcement Learning for Exploration and Efficient Energy Management in Multi-Robot Systems
Dipam Patel, Phu Pham, Kshitij Tiwari, Aniket Bera
arXiv.org  ·  29 Sep 2023
Multiagent systemsPath planningRobot navigationResource optimizationMotion and Path Planning
Trajectory Prediction for Robot Navigation using Flow-Guided Markov Neural Operator
Rashmi Bhaskara, Hrishikesh Viswanath, Aniket Bera
arXiv.org  ·  17 Sep 2023
Robot navigationNeural OperatorStochastic modellingMotion and Path Planning
Graph-based Decentralized Task Allocation for Multi-Robot Target Localization
Juntong Peng, Hrishikesh Viswanath, Kshitij Tiwari, Aniket Bera
arXiv.org  ·  16 Sep 2023
Robot NavigationMultiagent SystemsNeural OperatorMotion and Path Planning
CMetric: A Driving Behavior Measure using Centrality Functions
Rohan Chandra, Uttaran Bhattacharya, Trisha Mittal, Aniket Bera, Dinesh Manocha
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  ·  24 Oct 2020
Autonomous DrivingMotion and Path PlanningAffective Computing
EWareNet: Emotion Aware Human Intent Prediction and Adaptive Spatial Profile Fusion for Social Robot Navigation
Venkatraman Narayanan, Bala Murali Manoghar, Rama Prashanth RV, Aniket Bera
arXiv  ·  01 Jan 2020
Social RoboticsHuman-Crowd InteractionMotion and Path PlanningAffective Computing
Forecasting Trajectory and Behavior of Road-Agents Using Spectral Clustering in Graph-LSTMs
Rohan Chandra, Tianrui Guan, Srujan Panuganti, Trisha Mittal, Uttaran Bhattacharya, Aniket Bera, Dinesh Manocha
IEEE Robotics and Automation Letters  ·  01 Jul 2020
Autonomous DrivingHuman-Crowd InteractionMotion and Path PlanningAffective Computing
How are you feeling? Multimodal Emotion Learning for Socially-Assistive Robot Navigation
Aniket Bera, Tanmay Randhavane, Rohan Prinja, Kyra Kapsaskis, Austin Wang, Kurt Gray, Dinesh Manocha
2020 15th IEEE International Conference on Automatic Face and Gesture Recognition (FG 2020)  ·  01 Nov 2020
Social RoboticsHuman-Crowd InteractionMotion and Path PlanningAffective Computing
ProxEmo: Gait-based Emotion Learning and Multi-view Proxemic Fusion for Socially-Aware Robot Navigation
Venkatraman Narayanan, Bala Murali Manoghar, Vishnu Sashank Dorbala, Dinesh Manocha, Aniket Bera
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  ·  24 Oct 2020
Social RoboticsHuman-Crowd InteractionMotion and Path PlanningAffective Computing
RAIST: Learning Risk Aware Traffic Interactions via Spatio-Temporal Graph Convolutional Networks
Videsh Suman, Phu Pham, Aniket Bera
arXiv  ·  01 Jan 2020
Autonomous DrivingHuman-Crowd InteractionMotion and Path Planning
RoadTrack: Realtime Tracking of Road Agents in Dense and Heterogeneous Environments
Rohan Chandra, Uttaran Bhattacharya, Tanmay Randhavane, Aniket Bera, Dinesh Manocha
2020 IEEE International Conference on Robotics and Automation (ICRA)  ·  01 May 2020
Autonomous DrivingHuman-Crowd InteractionMotion and Path Planning
SeekNet: Improved Human Instance Segmentation via Reinforcement Learning Based Optimized Robot Relocation
Venkatraman Narayanan, Bala Murali Manoghar, Rama Prashanth RV, Phu Pham, Aniket Bera
arXiv  ·  01 Jan 2020
Social RoboticsHuman-Crowd InteractionMotion and Path PlanningAffective Computing
DensePeds: Pedestrian Tracking in Dense Crowds Using Front-RVO and Sparse Features
Rohan Chandra, Uttaran Bhattacharya, Aniket Bera, Dinesh Manocha
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  ·  01 Nov 2019
Human-Crowd InteractionMotion and Path PlanningCrowd SimulationAffective Computing
Improving Socially-aware Multi-channel Human Emotion Prediction for Robot Navigation
Aniket Bera, Tanmay Randhavane, Dinesh Manocha
  ·  01 Jan 2019
Social RoboticsHuman-Crowd InteractionMotion and Path PlanningAffective Computing
Modelling Multi-Channel Emotions Using Facial Expression and Trajectory Cues for Improving Socially-Aware Robot Navigation
Aniket Bera, Tanmay Randhavane, Dinesh Manocha
2019 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW)  ·  01 Jun 2019
Social RoboticsHuman-Crowd InteractionMotion and Path PlanningAffective Computing
Pedestrian Dominance Modeling for Socially-Aware Robot Navigation
Tanmay Randhavane, Aniket Bera, Emily Kubin, Austin Wang, Kurt Gray, Dinesh Manocha
2019 International Conference on Robotics and Automation (ICRA)  ·  01 May 2019
Social RoboticsHuman-Crowd InteractionMotion and Path PlanningAffective Computing
RobustTP: End-to-End Trajectory Prediction for Heterogeneous Road-Agents in Dense Traffic with Noisy Sensor Inputs
Rohan Chandra, Uttaran Bhattacharya, Christian Roncal, Aniket Bera, Dinesh Manocha
ACM Computer Science in Cars Symposium  ·  08 Oct 2019
Autonomous DrivingHuman-Crowd InteractionMotion and Path Planning
The Emotionally Intelligent Robot: Improving Socially-aware Human Prediction in Crowded Environments
Aniket Bera, Tanmay Randhavane, Dinesh Manocha
  ·  01 Jan 2019
Social RoboticsHuman-Crowd InteractionMotion and Path PlanningAffective Computing
TraPHic: Trajectory Prediction in Dense and Heterogeneous Traffic Using Weighted Interactions
Rohan Chandra, Uttaran Bhattacharya, Aniket Bera, Dinesh Manocha
2019 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)  ·  01 Jun 2019
Autonomous DrivingHuman-Crowd InteractionMotion and Path PlanningAffective Computing
PORCA: Modeling and Planning for Autonomous Driving among Many Pedestrians
Yuanfu Luo, Panpan Cai, Aniket Bera, David Hsu, Wee Sun Lee, Dinesh Manocha
arXiv  ·  01 Jan 2018
Autonomous DrivingMotion and Path PlanningHuman-Crowd Interaction
Classifying Group Emotions for Socially-Aware Autonomous Vehicle Navigation
Aniket Bera, Tanmay Randhavane, Austin Wang, Dinesh Manocha, Emily Kubin, Kurt Gray
2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW)  ·  01 Jun 2018
Autonomous DrivingMotion and Path PlanningAffective ComputingHuman-Crowd Interaction
Efficient and Safe Vehicle Navigation Based on Driver Behavior Classification
Ernest Cheung, Aniket Bera, Dinesh Manocha
2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW)  ·  01 Jun 2018
Autonomous DrivingMotion and Path PlanningAffective ComputingHuman-Crowd Interaction
PORCA: Modeling and Planning for Autonomous Driving Among Many Pedestrians
Yuanfu Luo, Panpan Cai, Aniket Bera, David Hsu, Wee Sun Lee, Dinesh Manocha
IEEE Robotics and Automation Letters  ·  01 Oct 2018
Autonomous DrivingHuman-Crowd InteractionMotion and Path Planning
The Socially Invisible Robot Navigation in the Social World Using Robot Entitativity
Aniket Bera, Tanmay Randhavane, Emily Kubin, Austin Wang, Kurt Gray, Dinesh Manocha
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  ·  01 Oct 2018
Social RoboticsHuman-Crowd InteractionMotion and Path PlanningAffective Computing
Realtime Pedestrian Tracking and Prediction in Dense Crowds
Aniket Bera, David Wolinski, Julien Pettré, Dinesh Manocha
Group and Crowd Behavior for Computer Vision  ·  01 Jan 2017
Human-Crowd InteractionMotion and Path PlanningCrowd SimulationAffective Computing
SocioSense: Robot navigation amongst pedestrians with social and psychological constraints
Aniket Bera, Tanmay Randhavane, Rohan Prinja, Dinesh Manocha
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  ·  01 Sep 2017
Social RoboticsHuman-Crowd InteractionMotion and Path PlanningAffective Computing
GLMP- realtime pedestrian path prediction using global and local movement patterns
Aniket Bera, Sujeong Kim, Tanmay Randhavane, Srihari Pratapa, Dinesh Manocha
2016 IEEE International Conference on Robotics and Automation (ICRA)  ·  01 May 2016
Human-Crowd InteractionMotion and Path PlanningCrowd SimulationAffective Computing
Realtime Anomaly Detection Using Trajectory-Level Crowd Behavior Learning
Aniket Bera, Sujeong Kim, Dinesh Manocha
2016 IEEE Conference on Computer Vision and Pattern Recognition Workshops (CVPRW)  ·  01 Jun 2016
Human-Crowd InteractionMotion and Path PlanningCrowd SimulationAffective Computing
REACH - Realtime crowd tracking using a hybrid motion model
Aniket Bera, Dinesh Manocha
2015 IEEE International Conference on Robotics and Automation (ICRA)  ·  01 May 2015
Human-Crowd InteractionMotion and Path PlanningCrowd SimulationAffective Computing
AdaPT: Real-time adaptive pedestrian tracking for crowded scenes
Aniket Bera, Nico Galoppo, Dillon Sharlet, Adam Lake, Dinesh Manocha
2014 IEEE International Conference on Robotics and Automation (ICRA)  ·  01 May 2014
Human-Crowd InteractionMotion and Path PlanningCrowd SimulationAffective ComputingEmotion Recognition
Realtime Multilevel Crowd Tracking Using Reciprocal Velocity Obstacles
Aniket Bera, Dinesh Manocha
2014 22nd International Conference on Pattern Recognition  ·  01 Aug 2014
Human-Crowd InteractionMotion and Path PlanningCrowd SimulationAffective Computing