Related papers: Topology of parametrised motion planning algorithm…
Parametrized motion planning algorithms \cite{CFW} have a high degree of universality and flexibility; they generate the motion of a robotic system under a variety of external conditions. The latter are viewed as parameters and constitute…
We study the topological complexity of work maps with respect to some subspaces of the configuration space and a workspace considered as the target set of the motion of robots. The motivation is to optimize and reduce the number of motion…
In this paper we develop theory of sequential parametrized motion planning which generalises the approach of parametrized motion planning, which was introduced recently in [3]. A sequential parametrized motion planning algorithm produced a…
We introduce and study the proper topological complexity of a given configuration space, a version of the classical invariant for which we require that the algorithm controlling the motion is able to avoid any possible choice of ``unsafe''…
This article introduces a multimodal motion planning (MMP) algorithm that combines three-dimensional (3-D) path planning and a DWA obstacle avoidance algorithm. The algorithms aim to plan the path and motion of obstacle-overcoming robots in…
We study the problem of motion-planning for free-flying multi-link robots and develop a sampling-based algorithm that is specifically tailored for the task. Our work is based on the simple observation that the set of configurations for…
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…
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…
Autonomous motion of a system (robot) is controlled by a motion planning algorithm. A sequential parametrized motion planning algorithm \cite{FP22} works under variable external conditions and generates continuous motions of the system to…
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…
We study an elementary problem of topological robotics: rotation of a line, which is fixed by a revolving joint at a base point: one wants to bring the line from its initial position to a final position by a continuous motion in the space.…
We describe an algorithm for motion planning based on expert demonstrations of a skill. In order to teach robots to perform complex object manipulation tasks that can generalize robustly to new environments, we must (1) learn a…
Motion path planning is an intrinsically geometric problem which is central for design of robot systems. Since the early years of AI, robotics together with computer vision have been the areas of computer science that drove its development.…
When planning motions in a configuration space that has underlying symmetries (e.g. when manipulating one or multiple symmetric objects), the ideal planning algorithm should take advantage of those symmetries to produce shorter…
This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…
We compute the higher topological complexity of ordered configuration spaces of orientable surfaces, thus extending Cohen-Farber's description of the ordinary topological complexity of those spaces.
Recent advancements in robotics have transformed industries such as manufacturing, logistics, surgery, and planetary exploration. A key challenge is developing efficient motion planning algorithms that allow robots to navigate complex…
This paper is concerned with problems relevant to motion planning in robotics. Configuration spaces are of practical relevance in designing safe control schemes for robots moving on a track. The topological complexity of a configuration…
In this paper, we present a learning approach to goal assignment and trajectory planning for unlabeled robots operating in 2D, obstacle-filled workspaces. More specifically, we tackle the unlabeled multi-robot motion planning problem with…
This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…