Related papers: Parameterization of configuration space obstacles …
In this paper we introduce and study a new concept of parametrised topological complexity, a topological invariant motivated by the motion planning problem of robotics. In the parametrised setting, a motion planning algorithm has high…
Parametrized motion planning algorithms have high degrees of universality and flexibility, as they are designed to work under a variety of external conditions, which are viewed as parameters and form part of the input of the underlying…
The paper surveys topological problems relevant to the motion planning problem of robotics and includes some new results and constructions. First we analyse the notion of topological complexity of configuration spaces which is responsible…
Parametrized motion planning algorithms have high degree of flexibility and universality, they can work under a variety of external conditions, which are viewed as parameters and form part of the input of the algorithm. In this paper we…
Motion planning is a difficult problem in robot control. The complexity of the problem is directly related to the dimension of the robot's configuration space. While in many theoretical calculations and practical applications the…
We study a generalized motion planning problem involving multiple autonomous robots navigating in a $d$-dimensional Euclidean space in the presence of a set of obstacles whose positions are unknown a priori. Each robot is required to visit…
Orientation estimation is a fundamental task in 3D shape analysis which consists of estimating a shape's orientation axes: its side-, up-, and front-axes. Using this data, one can rotate a shape into canonical orientation, where its…
We study motion planning algorithms for collision free control of multiple objects in the presence of moving obstacles. We compute the topological complexity of algorithms solving this problem. We apply topological tools and use information…
In this work we propose algorithms to explicitly construct a conservative estimate of the configuration spaces of rigid objects in 2D and 3D. Our approach is able to detect compact path components and narrow passages in configuration space…
Intelligent robots must be able to perform safe and efficient motion planning in their environments. Central to modern motion planning is the configuration space. Configuration spaces define the set of configurations of a robot that result…
This paper presents a novel method to generate spatial constraints for motion planning in dynamic environments. Motion planning methods for autonomous driving and mobile robots typically need to rely on the spatial constraints imposed by a…
Manifolds occur naturally as configuration spaces of robotic systems. They provide global descriptions of local coordinate systems that are common tools in expressing positions of robots. The purpose of this survey is threefold. Firstly, we…
A common representation of a three dimensional object in computer applications, such as graphics and design, is in the form of a triangular mesh. In many instances, individual or groups of triangles in such representation need to satisfy…
A kinematic chain in three-dimensional Euclidean space consists of $n$ links that are connected by spherical joints. Such a chain is said to be within a closed configuration when its link lengths form a closed polygonal chain in three…
Motion planning and obstacle avoidance is a key challenge in robotics applications. While previous work succeeds to provide excellent solutions for known environments, sensor-based motion planning in new and dynamic environments remains…
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 design a motion planning algorithm to coordinate the movements of two robots along a figure eight track, in such a way that no collisions occur. We use a topological approach to robot motion planning that relates instabilities in motion…
When solving a PDE problem numerically, a certain mesh-refinement process is always implicit, and very classically, mesh adaptivity is a very effective means to accelerate grid convergence. Similarly, when optimizing a shape by means of an…
The motion of a mechanical system can be defined as a path through its configuration space. Computing such a path has a computational complexity scaling exponentially with the dimensionality of the configuration space. We propose to reduce…
When planning motions in a configuration space that has underlying symmetries (e.g. when manipulating one or multiple symmetric objects), the ideal planning algorithm should take advantage of those symmetries to produce shorter…