Related papers: Motion Planning in Irreducible Path Spaces
Let $\mathcal{W} \subset \mathbb{R}^2$ be a planar polygonal environment (i.e., a polygon potentially with holes) with a total of $n$ vertices, and let $A,B$ be two robots, each modeled as an axis-aligned unit square, that can translate…
In this paper, we present the mechanics and algorithms to compute the set of feasible motions of an object pushed in a plane. This set is known as the motion cone and was previously described for non-prehensile manipulation tasks in the…
Multi-robot systems offer enhanced capability over their monolithic counterparts, but they come at a cost of increased complexity in coordination. To reduce complexity and to make the problem tractable, multi-robot motion planning (MRMP)…
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 study investigates the exact geometry of the configuration space in three-dimensional rotational motion planning. A parameterization of configuration space obstacles is derived for a given triangulated or ball-approximated scene with…
This work presents an efficient framework to generate a motion plan of a robot with high degrees of freedom (e.g., a humanoid robot). High-dimensionality of the robot configuration space often leads to difficulties in utilizing the…
Robotic manipulation in complex, constrained spaces is vital for widespread applications but challenging, particularly when navigating narrow passages with elongated objects. Existing planning methods often fail in these low-clearance…
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…
Reversibility is a key issue in the interface between computation and physics, and of growing importance as miniaturization progresses towards its physical limits. Most foundational work on reversible computing to date has focussed on…
In this paper, a kinematic motion planning algorithm for cooperative spatial payload manipulation is presented. A hierarchical approach is introduced to compute real-time collision-free motion plans for a formation of mobile manipulator…
It has been observed that the very important motion planning problem of robotics mathematically speaking boils down to the problem of finding a section to the path-space fibration, raising the notion of topological complexity, as introduced…
Constraining motion to a flat surface is a fundamental requirement for equipment across science and engineering. Modern precision robotic motion systems, such as gantries, rely on the flatness of components, including guide rails and…
Trajectory planning for mobile robots in cluttered environments remains a major challenge due to narrow passages, where conventional methods often fail or generate suboptimal paths. To address this issue, we propose the adaptive trajectory…
Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work…
While robotic spatial extrusion has demonstrated a new and efficient means to fabricate 3D truss structures in architectural scale, a major challenge remains in automatically planning extrusion sequence and robotic motion for trusses with…
We address the problem of planning robot motions in constrained configuration spaces where the constraints change throughout the motion. The problem is formulated as a fixed sequence of intersecting manifolds, which the robot needs to…
This work proposes a kinodynamic motion planning technique for collaborative object transportation by multiple mobile manipulators in dynamic environments. A global path planner computes a linear piecewise path from start to goal. A novel…
Studying snake robot locomotion in a cluttered environment has been a complicated task because the motion model is discontinuous due to the physical contact with obstacles, and the contact force cannot be determined solely by contact…
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…
This paper addresses the problem of planning a safe (i.e., collision-free) trajectory from an initial state to a goal region when the obstacle space is a-priori unknown and is incrementally revealed online, e.g., through line-of-sight…