Related papers: Linear Search with Terrain-Dependent Speeds

Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance, and planning of the underactuated dynamics of the system. Reliably optimizing for such motions and interactions in the presence of imperfect and…

This paper proposes a preliminary work on a Conditional Task and Motion Planning algorithm able to find a plan that minimizes robot efforts while solving assigned tasks. Unlike most of the existing approaches that replan a path only when it…

This paper considers trajectory planning for a mobile robot which persistently relays data between pairs of far-away communication nodes. Data accumulates stochastically at each source, and the robot must move to appropriate positions to…

The effectiveness of a robot manipulation to a large extent is determined by the speed of making this or that movement needed for carrying out the task. Accordingly to this the problem of optimal robot control is often subdivided into two…

In the future, service robots are expected to be able to operate autonomously for long periods of time without human intervention. Many work striving for this goal have been emerging with the development of robotics, both hardware and…

As the demands of autonomous mobile robots are increasing in recent years, the requirement of the path planning/navigation algorithm should not be content with the ability to reach the target without any collisions, but also should try to…

In this chapter, we propose a novel approach for solving the coordination of a fleet of mobile robots, which consists of finding a set of collision-free trajectories for individual robots in the fleet. This problem is studied for several…

Legged robots are able to navigate complex terrains by continuously interacting with the environment through careful selection of contact sequences and timings. However, the combinatorial nature behind contact planning hinders the…

Recently, machine learning (ML) methods have been developed for increasing the accuracy of robot mechanisms. Complex mechanical issues such as non-linear friction, backlash, flexibility of structure transmission elements can cause these…

We consider a single non-holonomic Dubins-like robot traveling with a constant longitudinal speed in an a priori unknown and unsteady planar environment. The robot should detect, locate, and track the boundary of a dynamic environmental…

Time-optimal path tracking, as a significant tool for industrial robots, has attracted the attention of numerous researchers. In most time-optimal path tracking problems, the actuator torque constraints are assumed to be conservative, which…

We present a robotic exploration technique in which the goal is to learn to a visual model and be able to distinguish between different terrains and other visual components in an unknown environment. We use ROST, a realtime online…

The study of computing in presence of faulty robots in the Look-Compute-Move model has been the object of extensive investigation, typically with the goal of designing algorithms tolerant to as many faults as possible. In this paper, we…

In this paper, we conduct a literature review of laws of motion based on stochastic search strategies which are mainly focused on exploring highly dynamic environments. In this regard, stochastic search strategies represent an interesting…

Research into several aspects of robot-enabled reconnaissance of random fields is reported. The work has two major components: the underlying theory of information acquisition in the exploration of unknown fields and the results of…

We present an active visual search model for finding objects in unknown environments. The proposed algorithm guides the robot towards the sought object using the relevant stimuli provided by the visual sensors. Existing search strategies…

Recent advances in the field of machine learning have led to new ways for mobile robots to acquire advanced navigational capabilities. However, these learning-based methods raise the possibility that learned navigation behaviors may not…

Many policy search algorithms have been proposed for robot learning and proved to be practical in real robot applications. However, there are still hyperparameters in the algorithms, such as the exploration rate, which requires manual…

We study the problem of bipedal robot navigation in complex environments with uncertain and rough terrain. In particular, we consider a scenario in which the robot is expected to reach a desired goal location by traversing an environment…

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…