Related papers: A Homotopy Method for Motion Planning
We present a general and modular algorithmic framework for path planning of robots. Our framework combines geometric methods for exact and complete analysis of low-dimensional configuration spaces, together with practical, considerably…
This article addresses obstacle avoidance motion planning for autonomous vehicles, specifically focusing on highway overtaking maneuvers. The control design challenge is handled by considering a mathematical vehicle model that captures both…
Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…
We present an optimization-based framework for multicopter trajectory planning subject to geometrical configuration constraints and user-defined dynamic constraints. The basis of the framework is a novel trajectory representation built upon…
Motion planning problems often have many local minima. Those minima are important to visualize to let a user guide, prevent or predict motions. Towards this goal, we develop the motion planning explorer, an algorithm to let users…
An efficient algorithm to solve the $k$ shortest non-homotopic path planning ($k$-SNPP) problem in a 2D environment is proposed in this paper. Motivated by accelerating the inefficient exploration of the homotopy-augmented space of the 2D…
We revisit the problem of certifying the correctness of approximate solution paths computed by numerical homotopy continuation methods. We propose a conceptually simple approach based on a parametric variant of the Krawczyk method from…
We present a method that finds locomanipulation plans that perform simultaneous locomotion and manipulation of objects for a desired end-effector trajectory. Key to our approach is to consider a generic locomotion constraint manifold that…
Geometric motion planning offers effective and interpretable gait analysis and optimization tools for locomoting systems. However, due to the curse of dimensionality in coordinate optimization, a key component of geometric motion planning,…
In this letter, we propose an efficient and highly versatile loco-manipulation planning for humanoid robots. Loco-manipulation planning is a key technological brick enabling humanoid robots to autonomously perform object transportation by…
We propose a Gaussian variational inference framework for the motion planning problem. In this framework, motion planning is formulated as an optimization over the distribution of the trajectories to approximate the desired trajectory…
We consider the problem of planning a collision-free path for a high-dimensional robot. Specifically, we suggest a planning framework where a motion-planning algorithm can obtain guidance from a user. In contrast to existing approaches that…
In this paper we propose a primal-dual homotopy method for $\ell_1$-minimization problems with infinity norm constraints in the context of sparse reconstruction. The natural homotopy parameter is the value of the bound for the constraints…
To control how a robot moves, motion planning algorithms must compute paths in high-dimensional state spaces while accounting for physical constraints related to motors and joints, generating smooth and stable motions, avoiding obstacles,…
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…
For motion planning and control of autonomous vehicles to be proactive and safe, pedestrians' and other road users' motions must be considered. In this paper, we present a vehicle motion planning and control framework, based on Model…
For successful goal-directed human-robot interaction, the robot should adapt to the intentions and actions of the collaborating human. This can be supported by musculoskeletal or data-driven human models, where the former are limited to…
We study the problem of coordinating multiple robots along fixed geometric paths. Our contribution is threefold. First we formalize the intuitive concept of priorities as a binary relation induced by a feasible coordination solution,…
We propose a new algorithm for numerical path tracking in polynomial homotopy continuation. The algorithm is `robust' in the sense that it is designed to prevent path jumping and in many cases, it can be used in (only) double precision…
The problem of navigating a bipedal robot to a desired destination in various environments is very important. However, it is very difficult to solve the navigation problem in real time because the computation time is very long due to the…