Related papers: Manipulability Maximization Using Continuous-Time …
Safe path planning is a crucial component in autonomous robotics. The many approaches to find a collision free path can be categorically divided into trajectory optimisers and sampling-based methods. When planning using occupancy maps, the…
Motion planning in high-dimensional space is a challenging task. In order to perform dexterous manipulation in an unstructured environment, a robot with many degrees of freedom is usually necessary, which also complicates its motion…
Parallel robots (PRs) are closed-chain manipulators with diverse applications due to their accuracy and high payload. However, there are configurations within the workspace named Type II singularities where the PRs lose control of the…
This paper studies optimal motion planning subject to motion and environment uncertainties. By modeling the system as a probabilistic labeled Markov decision process (PL-MDP), the control objective is to synthesize a finite-memory policy,…
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…
Robotic tasks which involve uncertainty--due to variation in goal, environment configuration, or confidence in task model--may require human input to instruct or adapt the robot. In tasks with physical contact, several existing methods for…
Humans seamlessly fuse anticipatory planning with immediate feedback to perform successive mobile manipulation tasks without stopping, achieving both high efficiency and reliability. Replicating this fluid and reliable behavior in robots…
Trajectory optimization offers mature tools for motion planning in high-dimensional spaces under dynamic constraints. However, when facing complex configuration spaces, cluttered with obstacles, roboticists typically fall back to…
The workspace limits the operational capabilities and range of motion for the systems with robotic arms. Maximizing workspace utilization has the potential to provide more optimal solutions for aerial manipulation tasks, increasing the…
We consider the problem of cooperative intersection management. It arises in automated transportation systems for people or goods but also in multi-robots environment. Therefore many solutions have been proposed to avoid collisions. The…
Modular manipulators composed of pre-manufactured and interchangeable modules offer high adaptability across diverse tasks. However, their deployment requires generating feasible motions while jointly optimizing morphology and mounted pose…
This paper deals with motion planning for multiple agents by representing the problem as a simultaneous optimization of every agent's trajectory. Each trajectory is considered as a sample from a one-dimensional continuous-time Gaussian…
The aim of this paper is to characterize the moveability of fully-parallel manipulators in the presence of obstacles. Fully parallel manipulators are used in applications where accuracy, stiffness or high speeds and accelerations are…
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…
We consider the problem of grasping in clutter. While there have been motion planners developed to address this problem in recent years, these planners are mostly tailored for open-loop execution. Open-loop execution in this domain,…
Autonomous exploration is a complex task where the robot moves through an unknown environment with the goal of mapping it. The desired output of such a process is a sequence of paths that efficiently and safely minimise the uncertainty of…
As robots are being increasingly used in close proximity to humans and objects, it is imperative that robots operate safely and efficiently under real-world conditions. Yet, the environment is seldom known perfectly. Noisy sensors and…
In general, optimal motion planning can be performed both locally and globally. In such a planning, the choice in favour of either local or global planning technique mainly depends on whether the environmental conditions are dynamic or…
Manoeuvring in the presence of emergency vehicles is still a major issue for vehicle autonomy systems. Most studies that address this topic are based on rule-based methods, which cannot cover all possible scenarios that can take place in…
Motion trajectory planning is one crucial aspect for automated vehicles, as it governs the own future behavior in a dynamically changing environment. A good utilization of a vehicle's characteristics requires the consideration of the…