Related papers: Linear Search with Terrain-Dependent Speeds
This paper addresses the problem of enabling a robot to search for a semantic object, i.e., an object with a semantic label, in an unknown and GPS-denied environment. For the robot in the unknown environment to detect and find the target…
In this paper, we deal with the problem of full-body path planning for walking robots. The state of walking robots is defined in multi-dimensional space. Path planning requires defining the path of the feet and the robot's body. Moreover,…
We propose a self-contained, resilient and fully distributed solution for locating the maximum of an unknown scalar field using a swarm of robots that travel at a constant speed. Unlike conventional reactive methods relying on gradient…
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…
Unconstrained optimization problems are typically solved using iterative methods, which often depend on line search techniques to determine optimal step lengths in each iteration. This paper introduces a novel line search approach.…
Motion Planning is necessary for robots to complete different tasks. Rapidly-exploring Random Tree (RRT) and its variants have been widely used in robot motion planning due to their fast search in state space. However, they perform not well…
If we give a robot the task of moving an object from its current position to another location in an unknown environment, the robot must explore the map, identify all types of obstacles, and then determine the best route to complete the…
Autonomous exploration in mobile robotics often involves a trade-off between two objectives: maximizing environmental coverage and minimizing the total path length. In the widely used information gain paradigm, exploration is guided by the…
It is necessary for a mobile robot to be able to efficiently plan a path from its starting, or current, location to a desired goal location. This is a trivial task when the environment is static. However, the operational environment of the…
Autonomous navigation of ground robots on uneven terrain is being considered in more and more tasks. However, uneven terrain will bring two problems to motion planning: how to assess the traversability of the terrain and how to cope with…
The linearization of the equations of motion of a robotics system about a given state-input trajectory, including a controlled equilibrium state, is a valuable tool for model-based planning, closed-loop control, gain tuning, and state…
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…
We introduce a search problem generalizing the typical setting of Binary Search on the line. Similar to the setting for Binary Search, a target is chosen adversarially on the line, and in response to a query, the algorithm learns whether…
Path planning of Robot is one of the challenging fields in the area of Robotics research. In this paper, we proposed a novel algorithm to find path between starting and ending position for an intelligent system. An intelligent system is…
We study a variant of the searching problem where the environment consists of a known terrain and the goal is to obtain visibility of an unknown target point on the surface of the terrain. The searcher starts on the surface of the terrain…
Control of systems of automated guided vehicles involves action planning at many levels. For efficient control of these systems, accurate estimation of cost parameters (speed, energy, task completion performance, \textit{et~cetera} is…
In this paper, we study the symmetric rendezvous search problem on the line with n > 2 robots that are unaware of their locations and the initial distances between them. In the symmetric version of this problem, the robots execute the same…
Algorithms for motion planning in unknown environments are generally limited in their ability to reason about the structure of the unobserved environment. As such, current methods generally navigate unknown environments by relying on…
To achieve optimal robot behavior in dynamic scenarios we need to consider complex dynamics in a predictive manner. In the vehicle dynamics community, it is well know that to achieve time-optimal driving on low surface, the vehicle should…
Terrain adaptation is an essential capability for a ground robot to effectively traverse unstructured off-road terrain in real-world field environments such as forests. However, the expected robot behaviors generated by terrain adaptation…