Related papers: Fast Kinodynamic Bipedal Locomotion Planning with …
This study presents a theoretical method for planning and controlling agile bipedal locomotion based on robustly tracking a set of non-periodic keyframe states. Based on centroidal momentum dynamics, we formulate a hybrid phase-space…
For real-time multirotor kinodynamic motion planning, the efficiency of sampling-based methods is usually hindered by difficult-to-sample homotopy classes like narrow passages. In this paper, we address this issue by a hybrid scheme. We…
We present Kinodynamic RRT*, an incremental sampling-based approach for asymptotically optimal motion planning for robots with linear differential constraints. Our approach extends RRT*, which was introduced for holonomic robots (Karaman et…
This paper addresses two challenges facing sampling-based kinodynamic motion planning: a way to identify good candidate states for local transitions and the subsequent computationally intractable steering between these candidate states.…
In many robot motion planning problems, task objectives and physical constraints induce non-Euclidean geometry on the configuration space, yet many planners operate using Euclidean distances that ignore this structure. We address the…
This paper addresses the kinodynamic motion planning for non-holonomic robots in dynamic environments with both static and dynamic obstacles -- a challenging problem that lacks a universal solution yet. One of the promising approaches to…
Stable bipedal walking is a key prerequisite for humanoid robots to reach their potential of being versatile helpers in our everyday environments. Bipedal walking is, however, a complex motion that requires the coordination of many degrees…
This paper presents a learning-based approach to consider the effect of unobservable world states in kinodynamic motion planning in order to enable accurate high-speed off-road navigation on unstructured terrain. Existing kinodynamic motion…
Planning for legged-wheeled machines is typically done using trajectory optimization because of many degrees of freedom, thus rendering legged-wheeled planners prone to falling prey to bad local minima. We present a combined sampling and…
This paper studies bipedal locomotion as a nonlinear optimization problem based on continuous and discrete dynamics, by simultaneously optimizing the remaining step duration, the next step duration and the foot location to achieve…
Path-velocity decomposition is an intuitive yet powerful approach to address the complexity of kinodynamic motion planning. The difficult trajectory planning problem is solved in two separate, simpler, steps: first, find a path in the…
This paper presents a motion planner for systems subject to kinematic and dynamic constraints. The former appear when kinematic loops are present in the system, such as in parallel manipulators, in robots that cooperate to achieve a given…
Kinodynamic Motion Planning (KMP) is to find a robot motion subject to concurrent kinematics and dynamics constraints. To date, quite a few methods solve KMP problems and those that exist struggle to find near-optimal solutions and exhibit…
The objective of this study is to enable fast and safe manipulation tasks in home environments. Specifically, we aim to develop a system that can recognize its surroundings and identify target objects while in motion, enabling it to plan…
We explore path planning followed by kinodynamic smoothing while ensuring the vehicle dynamics feasibility for MAVs. We have chosen a geometrically based motion planning technique \textquotedblleft RRT*\textquotedblright\; for this purpose.…
Safe Interval Path Planning (SIPP) is a powerful algorithm for solving single-agent pathfinding problem when the agent is confined to a graph and certain vertices/edges of this graph are blocked at certain time intervals due to dynamic…
Computing kinodynamically feasible motion plans and repairing them on-the-fly as the environment changes is a challenging, yet relevant problem in robot-navigation. We propose a novel online single-query sampling-based motion re-planning…
One of the fundamental challenges in realizing the potential of legged robots is generating plans to traverse challenging terrains. Control actions must be carefully selected so the robot will not crash or slip. The high dimensionality of…
Trajectory replanning for quadrotors is essential to enable fully autonomous flight in unknown environments. Hierarchical motion planning frameworks, which combine path planning with path parameterization, are popular due to their time…
This article extends the capabilities of the harmonic potential field approach to planning to cover both the kinematic and dynamic aspects of a robot motion. The suggested approach converts the gradient guidance field from a harmonic…