Related papers: Motion planning using shortest path
In this paper we present a method for automatically generating optimal robot trajectories satisfying high level mission specifications. The motion of the robot in the environment is modeled as a general transition system, enhanced with…
Indoor navigation systems leverage shortest path algorithms to calculate routes. In order to define the "shortest path", a cost function has to be specified based on theories and heuristics in the application domain. For the domain of…
Recent papers have shown optimally-competitive on-line strategies for a robot traveling from a point $s$ to a point $t$ in certain unknown geometric environments. We consider the question: Having gained some partial information about the…
This paper outlines a modification on the Bat Algorithm (BA), a kind of swarm optimization algorithms with for the mobile robot navigation problem in a dynamic environment. The main objectives of this work are to obtain the collision-free,…
This paper addresses a UAV path planning task that seeks to observe a set of objects while satisfying the observation quality constraint. A dynamic programming algorithm is proposed that enables the UAV to observe the target objects with…
This paper proposes an image-based robot motion planning method using a one-step diffusion model. While the diffusion model allows for high-quality motion generation, its computational cost is too expensive to control a robot in real time.…
In this work, we consider the problem of decentralized multi-robot target tracking and obstacle avoidance in dynamic environments. Each robot executes a local motion planning algorithm which is based on model predictive control (MPC). The…
Finding asymptotically-optimal paths in multi-robot motion planning problems could be achieved, in principle, using sampling-based planners in the composite configuration space of all of the robots in the space. The dimensionality of this…
Trajectory generation in confined environment is crucial for wide adoption of intelligent robot manipulators. In this paper, we propose a novel motion planning approach for redundant robot arms that uses a hybrid optimization framework to…
Path planning is crucial for the efficient operation of Autonomous Mobile Robots (AMRs) in factory environments. Many existing algorithms rely on Dubins paths, which have been adapted for various applications. However, an efficient method…
The efficiency of sampling-based motion planning brings wide application in autonomous mobile robots. The conventional rapidly exploring random tree (RRT) algorithm and its variants have gained significant successes, but there are still…
We study the problem of path planning with soft homology constraints on a surface topologically equivalent to a disk with punctures. Specifically, we propose an algorithm, named $\Hstar$, for the efficient computation of a path homologous…
This paper addresses the problem of finding multiple near-optimal, spatially-dissimilar paths that can be considered as alternatives in the decision making process, for finding optimal corridors in which to construct a new road. We further…
Ground robots navigating in complex, dynamic environments must compute collision-free trajectories to avoid obstacles safely and efficiently. Nonconvex optimization is a popular method to compute a trajectory in real-time. However, these…
This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid…
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 robotic deformable object manipulation (DOM) applications, constraints arise commonly from environments and task-specific requirements. Enabling DOM with constraints is therefore crucial for its deployment in practice. However, dealing…
Realistic path planning applications often require optimizing with respect to several criteria simultaneously. Here we introduce an efficient algorithm for bi-criteria path planning on graphs. Our approach is based on augmenting the state…
This paper proposes a stable sparse rapidly-exploring random trees (SST) algorithm to solve the optimal motion planning problem for hybrid systems. At each iteration, the proposed algorithm, called HySST, selects a vertex with the lowest…
We present an approach for safe motion planning under robot state and environment (obstacle and landmark location) uncertainties. To this end, we first develop an approach that accounts for the landmark uncertainties during robot…