Related papers: Efficient Path Interpolation and Speed Profile Com…

Path planning algorithms fundamentally aim to compute collision-free paths, with many works focusing on finding the optimal distance path. However, for several applications, a more suitable approach is to balance response time, path safety,…

Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…

In this paper, we consider the problem of generating inspection paths for robots. These paths should allow an attached measurement device to perform high-quality measurements. We formally show that generating robot paths, while maximizing…

Shortest-path roadmaps, also known as reduced visibility graphs, provides a highly efficient multi-query method for computing optimal paths in two-dimensional environments. Combined with Minkowski sum computations, shortest-path roadmaps…

A novel multi-robot path planning approach is presented in this paper. Based on the standard Dijkstra, the algorithm looks for the optimal paths for a formation of robots, taking into account the possibility of split and merge. The…

In this paper we study paramertized motion planning algorithms which provide universal and flexible solutions to diverse motion planning problems. Such algorithms are intended to function under a variety of external conditions which are…

We consider a suboptimal solution path algorithm for the Support Vector Machine. The solution path algorithm is an effective tool for solving a sequence of a parametrized optimization problems in machine learning. The path of the solutions…

Many scientific and engineering applications feature nonsmooth convex minimization problems over convex sets. In this paper, we address an important instance of this broad class where we assume that the nonsmooth objective is equipped with…

Minimising the longest travel distance for a group of mobile robots with interchangeable goals requires knowledge of the shortest length paths between all robots and goal destinations. Determining the exact length of the shortest paths in…

Collision detection is one of the most time-consuming operations during motion planning. Thus, there is an increasing interest in exploring machine learning techniques to speed up collision detection and sampling-based motion planning. A…

Path following controllers make the output of a control system approach and traverse a pre-specified path with no apriori time parametrization. In this paper we present a method for path following control design applicable to framed curves…

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…

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…

Trajectory planning for multiple robots in shared environments is a challenging problem especially when there is limited communication available or no central entity. In this article, we present Real-time planning using Linear Spatial…

We propose a technique for interpolating between probability distributions on discrete surfaces, based on the theory of optimal transport. Unlike previous attempts that use linear programming, our method is based on a dynamical formulation…

Efficient motion planning algorithms are of central importance for deploying robots in the real world. Unfortunately, these algorithms often drastically reduce the dimensionality of the problem for the sake of feasibility, thereby foregoing…

Navigating a collision-free and optimal trajectory for a robot is a challenging task, particularly in environments with moving obstacles such as humans. We formulate this problem as a stochastic optimal control problem. Since solving the…

Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…

Hybrid locomotion, which combines multiple modalities of locomotion within a single robot, enables robots to carry out complex tasks in diverse environments. This paper presents a novel method for planning multi-modal locomotion…

We present an advanced interpolation method for estimating smooth spatiotemporal profiles for local highway traffic variables such as flow, speed and density. The method is based on stationary detector data as typically collected by traffic…