Related papers: Motion planning algorithms for Configuration Space…
A topological theory initiated recently by the author uses methods of algebraic topology to estimate numerically the character of instabilities arising in motion planning algorithms. The present paper studies random motion planning…
Equivalence classes of $n$-point configurations in Euclidean, Hermitian, and quaternionic spaces are related, respectively, to classical determinantal varieties of symmetric, general, and skew-symmetric bilinear forms. Cayley-Menger…
Trajectory planning tasks for non-holonomic or collaborative systems are naturally modeled by state spaces with non-Euclidean metrics. However, existing proofs of convergence for sample-based motion planners only consider the setting of…
We present a complete framework for fast motion planning of non-holonomic autonomous mobile robots in highly complex but structured environments. Conventional grid-based planners struggle with scalability, while many kinematically-feasible…
We propose a motion planner for cable-driven payload transportation using multiple unmanned aerial vehicles (UAVs) in an environment cluttered with obstacles. Our planner is kinodynamic, i.e., it considers the full dynamics model of the…
Indoor motion planning focuses on solving the problem of navigating an agent through a cluttered environment. To date, quite a lot of work has been done in this field, but these methods often fail to find the optimal balance between…
These expository notes are dedicated to the study of the topology of configuration spaces of manifolds. We give detailed computations of many invariants, including the fundamental group of the configuration spaces of $\mathbb{R}^2$, the…
Neural Motion Planners (NMPs) have emerged as a promising tool for solving robot navigation tasks in complex environments. However, these methods often require expert data for learning, which limits their application to scenarios where data…
Path planning in unknown environments is a crucial yet inherently challenging capability for mobile robots, which primarily encompasses two coupled tasks: autonomous exploration and point-goal navigation. In both cases, the robot must…
This paper reports a novel result: with proper robot models on matrix Lie groups, one can formulate the kinodynamic motion planning problem for rigid body systems as \emph{exact} polynomial optimization problems that can be relaxed as…
In this paper, we review two approaches that can describe, in a geometrical way, the kinematics of particles that are affected by Planck-scale departures, named Finsler and Hamilton geometries. By relying on maps that connect the spaces of…
Using quaternions and octonions, we construct some maps from the Grassmannian of 2-dimensional planes of $\mathbb{R}^n$, $\mathrm{Gr}_2(\mathbb{R}^n)$, to the projective space $\mathbb{R}\mathrm{P}^k$, for certain values of $n$ and $k$. All…
One of the main foci of robotics is nowadays centered in providing a great degree of autonomy to robots. A fundamental step in this direction is to give them the ability to plan in discrete and continuous spaces to find the required motions…
Robot motion planning involves computing a sequence of valid robot configurations that take the robot from its initial state to a goal state. Solving a motion planning problem optimally using analytical methods is proven to be PSPACE-Hard.…
We present an algorithm that produces a plan for relocating obstacles in order to grasp a target in clutter by a robotic manipulator without collisions. We consider configurations where objects are densely populated in a constrained and…
In this paper, we introduce the notion of transversal topological complexity (TTC) for a smooth manifold $X$ with respect to a submanifold of codimension 1 together with basic results about this numerical invariant. In addition, we present…
What is the effectiveness of local search algorithms for geometric problems in the plane? We prove that local search with neighborhoods of magnitude $1/\epsilon^c$ is an approximation scheme for the following problems in the Euclidian…
Planning in robotics is often split into task and motion planning. The high-level, symbolic task planner decides what needs to be done, while the motion planner checks feasibility and fills up geometric detail. It is known however that such…
We present a decoupled algorithm for motion planning for a collection of unit-balls moving among polyhedral obstacles in $\mathbb{R}^d$, for any $d \ge 2$. We assume that the robots have revolving areas in the vicinity of their start and…
We present an integrated Task-Motion Planning (TMP) framework for navigation in large-scale environment. Autonomous robots operating in real world complex scenarios require planning in the discrete (task) space and the continuous (motion)…