Related papers: Quotient-Space Motion Planning
A new path planning method for Mobile Robots (MR) has been developed and implemented. On the one hand, based on the shortest path from the start point to the goal point, this path planner can choose the best moving directions of the MR,…
Constrained robot motion planning is a ubiquitous need for robots interacting with everyday environments, but it is a notoriously difficult problem to solve. Many sampled points in a sample-based planner need to be rejected as they fall…
In this paper, we propose a new method for path planning to a point for robot in environment with obstacles. The resulting algorithm is implemented as a simple variation of Dijkstra's algorithm. By adding a constraint to the shortest-path,…
The presence of task constraints imposes a significant challenge to motion planning. Despite all recent advancements, existing algorithms are still computationally expensive for most planning problems. In this paper, we present Constrained…
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…
This article presents a novel approach, named MCMP (Monte Carlo Motion Planning), to the problem of motion planning under uncertainty, i.e., to the problem of computing a low-cost path that fulfills probabilistic collision avoidance…
Effective motion planning in high dimensional spaces is a long-standing open problem in robotics. One class of traditional motion planning algorithms corresponds to potential-based motion planning. An advantage of potential based motion…
Motion planning problems can be simplified by admissible projections of the configuration space to sequences of lower-dimensional quotient-spaces, called sequential simplifications. To exploit sequential simplifications, we present the…
A fundamental challenge in multi-robot motion planning is achieving sufficient coordination to avoid inter-robot conflicts without incurring the large computational expense of searching the joint configuration space of the robot group. In…
Traditional multi-robot motion planning (MMP) focuses on computing trajectories for multiple robots acting in an environment, such that the robots do not collide when the trajectories are taken simultaneously. In safety-critical…
Motion planning is a key tool that allows robots to navigate through an environment without collisions. The problem of robot motion planning has been studied in great detail over the last several decades, with researchers initially focusing…
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…
Motion planning for robots of high degrees-of-freedom (DOFs) is an important problem in robotics with sampling-based methods in configuration space C as one popular solution. Recently, machine learning methods have been introduced into…
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…
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…
Motion planning in the presence of multiple dynamic obstacles is an important research problem from the perspective of autonomous vehicles as well as space-constrained multi-robot work environment. In this paper, we address the motion…
Robot motion planning involves computing a sequence of valid robot configurations that take the robot from its initial state to a goal state. Solving a motion planning problem optimally using analytical methods is proven to be PSPACE-Hard.…
An algorithm for robot formation path planning is presented in this paper. Given a map of the working environment, the algorithm finds a path for a formation taking into account possible split of the formation and its consecutive merge. The…
The problem of planning for a robot that operates in environments containing a large number of objects, taking actions to move itself through the world as well as to change the state of the objects, is known as task and motion planning…
Motion planning is a fundamental problem in autonomous robotics that requires finding a path to a specified goal that avoids obstacles and takes into account a robot's limitations and constraints. It is often desirable for this path to also…