Related papers: Motion planning using shortest path
The main contribution of this paper is the proof of the convexity of the omni-directional tethered robot workspace (namely, the set of all tether-length-admissible robot configurations), as well as a set of distance-optimal tethered path…
In this paper we study a variant of the shortest path problem in graphs: given a weighted graph G and vertices s and t, and given a set X of forbidden paths in G, find a shortest s-t path P such that no path in X is a subpath of P. Path P…
The main aim of this paper is to solve a path planning problem for an autonomous mobile robot in static and dynamic environments. The problem is solved by determining the collision-free path that satisfies the chosen criteria for shortest…
With technological advancement, drone has emerged as unmanned aerial vehicle that can be controlled by humans to fly or reach a destination. This may be autonomous as well, where the drone itself is intelligent enough to find a shortest…
The problem of constrained coverage path planning involves a robot trying to cover maximum area of an environment under some constraints that appear as obstacles in the map. Out of the several coverage path planning methods, we consider…
This paper presents a search-based partial motion planner to generate dynamically feasible trajectories for car-like robots in highly dynamic environments. The planner searches for smooth, safe, and near-time-optimal trajectories by…
In this paper we consider discrete robot path planning problems on metric graphs. We propose a clustering method, Gamma-Clustering for the planning graph that significantly reduces the number of feasible solutions, yet retains a solution…
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…
To perform autonomous driving maneuvers, such as parallel or perpendicular parking, a vehicle requires continual speed and steering adjustments to follow a generated path. In consequence, the path's quality is a limiting factor of the…
The main contribution of this paper is a novel method for planning globally optimal trajectories for dynamical systems subject to polygonal constraints. The proposed method is a hybrid trajectory planning approach, which combines graph…
Robotic systems are routinely used in the logistics industry to enhance operational efficiency, but the design of robot workspaces remains a complex and manual task, which limits the system's flexibility to changing demands. This paper aims…
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…
Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…
We consider the problem of computing shortest paths in a dense motion-planning roadmap $\mathcal{G}$. We assume that~$n$, the number of vertices of $\mathcal{G}$, is very large. Thus, using any path-planning algorithm that directly searches…
This paper addresses the problem of planning a safe (i.e., collision-free) trajectory from an initial state to a goal region when the obstacle space is a-priori unknown and is incrementally revealed online, e.g., through line-of-sight…
Motion planning under differential constraints is a classic problem in robotics. To date, the state of the art is represented by sampling-based techniques, with the Rapidly-exploring Random Tree algorithm as a leading example. Yet, the…
Most existing motion planning algorithms assume that a map (of some quality) is fully determined prior to generating a motion plan. In many emerging applications of robotics, e.g., fast-moving agile aerial robots with constrained embedded…
We consider the problem of planning a collision-free path of a robot in the presence of risk zones. The robot is allowed to travel in these zones but is penalized in a super-linear fashion for consecutive accumulative time spent there. We…
The problem of planning a set of paths for the coalition of robots (agents) with different capabilities is considered in the paper. Some agents can modify the environment by destructing the obstacles thus allowing the other ones to shorten…
We present a novel approach to perform probabilistic collision detection between a high-DOF robot and high-DOF obstacles in dynamic, uncertain environments. In dynamic environments with a high-DOF robot and moving obstacles, our approach…