Related papers: Motion planning algorithms for Configuration Space…
Manipulation planning is the task of computing robot trajectories that move a set of objects to their target configuration while satisfying physically feasibility. In contrast to existing works that assume known object templates, we are…
This work proposes a motion planning algorithm for robotic manipulators that combines sampling-based and search-based planning methods. The core contribution of the proposed approach is the usage of burs of free configuration space…
We first study the higher version of the relative topological complexity by using the homotopic distance. We also introduced the generalized version of the relative topological complexity of a topological pair on both the Schwarz genus and…
We are dealing with the problem of space layout planning here. We present an architectural conceptual CAD approach. Starting with design specifications in terms of constraints over spaces, a specific enumeration heuristics leads to a…
This paper presents a motion planner for systems subject to kinematic and dynamic constraints. The former appear when kinematic loops are present in the system, such as in parallel manipulators, in robots that cooperate to achieve a given…
We present a hierarchical skeleton-guided motion planning algorithm to guide mobile robots. A good skeleton maps the connectivity of the subspace of c-space containing significant degrees of freedom and is able to guide the planner to find…
This paper proposes an adaptive lattice-based motion planning solution to address the problem of generating feasible trajectories for systems, represented by a linearly parameterizable non-linear model operating within a cluttered…
Intelligent robots must be able to perform safe and efficient motion planning in their environments. Central to modern motion planning is the configuration space. Configuration spaces define the set of configurations of a robot that result…
Motion planning is a mature area of research in robotics with many well-established methods based on optimization or sampling the state space, suitable for solving kinematic motion planning. However, when dynamic motions under constraints…
The notion of effective topological complexity, introduced by B{\l}aszczyk and Kaluba, deals with using group actions in the configuration space in order to reduce the complexity of the motion planning algorithm. In this article we focus on…
We calculate the equivariant motivic Chern class for configuration space of a quasiprojective (maybe singular) variety and the space of vectors with different directions. We prove the formulas for generating series of these classes. We…
We construct classifying spaces for discrete and compact Lie groups, with the property that they are topological groups and complete metric spaces in a natural way. We sketch a program in view of extending these constructions.
In this paper, a kinematic motion planning algorithm for cooperative spatial payload manipulation is presented. A hierarchical approach is introduced to compute real-time collision-free motion plans for a formation of mobile manipulator…
We consider the speed planning problem for a robotic manipulator. In particular, we present an algorithm for finding the time-optimal speed law along an assigned path that satisfies velocity and acceleration constraints and respects the…
Locomotion for legged robots poses considerable challenges when confronted by obstacles and adverse environments. Footstep planners are typically only designed for one mode of locomotion, but traversing unfavorable environments may require…
In this paper, we propose a learning algorithm that speeds up the search in task and motion planning problems. Our algorithm proposes solutions to three different challenges that arise in learning to improve planning efficiency: what to…
We present a legged motion planning approach for quadrupedal locomotion over challenging terrain. We decompose the problem into body action planning and footstep planning. We use a lattice representation together with a set of defined body…
Causal fermion systems and Riemannian fermion systems are proposed as a framework for describing non-smooth geometries. In particular, this framework provides a setting for spinors on singular spaces. The underlying topological structures…
This paper presents an offline motion planner for linear cyber-physical systems that satisfy a continuous-time Signal Temporal Logic (STL) specification, in which controls are applied in a Zeroth-order Hold (ZOH) manner. The motion planning…
Motion path planning is an intrinsically geometric problem which is central for design of robot systems. Since the early years of AI, robotics together with computer vision have been the areas of computer science that drove its development.…