Trajectory
Related papers: 20
About
A trajectory in robotics and AI refers to the time-parameterized path that a robot, vehicle, or end-effector follows through space, specifying not just positions but also velocities, accelerations, and sometimes forces at each point in time. Unlike a geometric path, a trajectory explicitly encodes *when* and *how fast* a system moves between configurations. Trajectories are fundamental across nearly every robotic discipline: manipulator arms follow planned joint-space or Cartesian trajectories to perform precise tasks; mobile robots and autonomous vehicles use trajectory planning to navigate safely among obstacles; aerial robots like quadrotors execute aggressive maneuvers via dynamically feasible trajectory generation; and SLAM systems reconstruct a robot's trajectory through an environment for localization and mapping. Trajectory control and tracking—ensuring a robot follows a desired trajectory despite disturbances—is a central challenge addressed by techniques ranging from sliding mode control to adaptive and iterative learning methods. In machine learning contexts, trajectory data drives imitation learning and visuomotor policy training. Accurate trajectory generation, representation, and tracking are foundational to achieving reliable, safe, and efficient robot behavior in real-world applications.
Top Researchers
Jean-Jacques Slotine
Institution: —
Vincent Vanhoucke
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Christoph Stiller
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Sebastian Thrun
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Rodney A. Brooks
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Oussama Khatib
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Amjad J. Humaidi
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Ayad Q. Al-Dujaili
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Richard M. Murray
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Zexiang Li
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Top Institutes
Top Cited Papers
Introduction to Robotics mechanics and Control
John Craig
Citations: 5039 • 1986
A benchmark for the evaluation of RGB-D SLAM systems
Jrgen Sturm, Nikolas Engelhard, Felix Endres, Wolfram Burgard, Daniel Cremers
Citations: 3918 • 2012
MonoSLAM: Real-Time Single Camera SLAM
Andrew J. Davison, Ian Reid, Nicholas Molton, Olivier Stasse
Citations: 3909 • 2007
Bettering operation of Robots by learning
Suguru Arimoto, Sadao Kawamura, Fumio Miyazaki
Citations: 3445 • 1984
Robot Modeling and Control
Mark W. Spong, Seth Hutchinson, M. Vidyasagar
Citations: 3281 • 2006
Randomized Kinodynamic Planning
Steven M. LaValle, James Kuffner
Citations: 3241 • 2001
Hybrid Position/Force Control of Manipulators
Marc H. Raibert, John Craig
Citations: 2978 • 1981
Biped walking pattern generation by using preview control of zero-moment point
Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko, Kiyoshi Fujiwara, Kensuke Harada, Kazuhito Yokoi, Hirohisa Hirukawa
Citations: 2083 • 2004
LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping
Tixiao Shan, Brendan Englot, Drew Meyers, Wei Wang, Carlo Ratti, Daniela Rus
Citations: 1955 • 2020
Motion Planning in Dynamic Environments Using Velocity Obstacles
Paolo Fiorini, Zvi Shiller
Citations: 1930 • 1998
Tracking control of non-linear systems using sliding surfaces, with application to robot manipulators†
J.-J.E. Slotine, Shankar Sastry
Citations: 1788 • 1983
End-to-end training of deep visuomotor policies
Sergey Levine, Chelsea Finn, Trevor Darrell, Pieter Abbeel
Citations: 1715 • 2016
A hierarchical neural-network model for control and learning of voluntary movement
Mitsuo Kawato, Kazunori Furukawa, Ryoji Suzuki
Citations: 1575 • 1987
Real-time prediction of hand trajectory by ensembles of cortical neurons in primates
Johan Wessberg, Christopher R. Stambaugh, Jerald D. Kralik, Pamela D. Beck, Mark Laubach, John K. Chapin, Jung Kim, Sean Biggs, Mandayam A. Srinivasan, Miguel A. L. Nicolelis
Citations: 1495 • 2000
Argoverse: 3D Tracking and Forecasting With Rich Maps
Ming-Fang Chang, John Lambert, Patsorn Sangkloy, Jagjeet Singh, Sławomir Bąk, Andrew T. Hartnett, Wang De, Peter Carr, Simon Lucey, Deva Ramanan, James Hays
Citations: 1420 • 2019
End-to-End Training of Deep Visuomotor Policies
Sergey Levine, Chelsea Finn, Trevor Darrell, Pieter Abbeel
Citations: 1399 • 2015
Real-time control of a robot arm using simultaneously recorded neurons in the motor cortex
John K. Chapin, Karen A. Moxon, Ronald S. Markowitz, Miguel A. L. Nicolelis
Citations: 1157 • 1999
On Learning, Representing, and Generalizing a Task in a Humanoid Robot
Sylvain Calinon, F. Guenter, Aude Billard
Citations: 1086 • 2007
End-to-end driving via conditional imitation learning
Felipe Codevilla, Antonio M. López, Vladlen Koltun, Alexey Dosovitskiy
Citations: 1065
DS-SLAM: A Semantic Visual SLAM towards Dynamic Environments
Chao Yu, Zuxin Liu, Xin-Jun Liu, Fugui Xie, Yi Yang, Qi Wei
Citations: 1052 • 2018