Related papers: A Morphological Adaptation Approach to Path Planni…
True slime mould Physarum polycephalum approximates a range of complex computations via growth and adaptation of its proto- plasmic transport network, stimulating a large body of recent research into how such a simple organism can perform…
Computing a polygon defining a set of planar points is a classical problem of modern computational geometry. In laboratory experiments we demonstrate that a concave hull, a connected alpha-shape without holes, of a finite planar set is…
The giant single-celled slime mould Physarum polycephalum has inspired rapid develop- ments in unconventional computing substrates since the start of this century. This is primarily due to its simple component parts and the distributed…
Motion planning is an essential part of autonomous mobile platforms. A good pipeline should be modular enough to handle different vehicles, environments, and perception modules. The planning process has to cope with all the different…
Motion planning is a key element of robotics since it empowers a robot to navigate autonomously. Particle Swarm Optimization is a simple, yet a very powerful optimization technique which has been effectively used in many complex…
In autonomous driving, end-to-end methods utilizing Imitation Learning (IL) and Reinforcement Learning (RL) are becoming more and more common. However, they do not involve explicit reasoning like classic robotics workflow and planning with…
Parametrized motion planning algorithms have high degrees of universality and flexibility, as they are designed to work under a variety of external conditions, which are viewed as parameters and form part of the input of the underlying…
This paper explores the Navigation Among Movable Obstacles (NAMO) problem and proposes joint path and push planning: which path to take and in what direction the obstacles should be pushed at, given a start and goal position. We present a…
The focus of this work is to present a novel methodology for optimal distribution of a swarm formation on either side of an obstacle, when evading the obstacle, to avoid overpopulation on the sides to reduce the agents' waiting delays,…
Plasmodium of Physarum polycephalum is a single cell visible by unaided eye. During its foraging behaviour the cell spans spatially distributed sources of nutrients with a protoplasmic network. Geometrical structure of the protoplasmic…
This paper investigates how learning can be used to ease the design of high-quality paths for the assembly of deformable objects. Object dynamics plays an important role when manipulating deformable objects; thus, detailed models are often…
Using a particle model of Physarum displaying emer- gent morphological adaptation behaviour we demonstrate how a minimal approach to collective material computation may be used to transform and summarise properties of spatially represented…
The use of adaptive spatial resolution to simulate flows of practical interest using Smoothed Particle Hydrodynamics (SPH) is of considerable importance. Recently, Muta and Ramachandran [1] have proposed an efficient adaptive SPH method…
This paper investigates Path planning Among Movable Obstacles (PAMO), which seeks a minimum cost collision-free path among static obstacles from start to goal while allowing the robot to push away movable obstacles (i.e., objects) along its…
We propose a novel method for motion planning and illustrate its implementation on several canonical examples. The core novel idea underlying the method is to define a metric for which a path of minimal length is an admissible path, that is…
When planning motions in a configuration space that has underlying symmetries (e.g. when manipulating one or multiple symmetric objects), the ideal planning algorithm should take advantage of those symmetries to produce shorter…
The performance of optimization-based robot motion planning algorithms is highly dependent on the initial solutions, commonly obtained by running a sampling-based planner to obtain a collision-free path. However, these methods can be slow…
Controlling humanoids in complex physically simulated worlds is a long-standing challenge with numerous applications in gaming, simulation, and visual content creation. In our setup, given a rich and complex 3D scene, the user provides a…
Plasmodium of \emph{Physarum polycephalum} is a single cell visible by unaided eye. On a non-nutrient substrate the plasmodium propagates as a traveling localization, as a compact wave-fragment of protoplasm. The plasmodium-localization…
Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant…