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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…
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…
Human-level autonomous driving is an ever-elusive goal, with planning and decision making -- the cognitive functions that determine driving behavior -- posing the greatest challenge. Despite a proliferation of promising approaches, progress…
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…
Motion planning is an extremely well-studied problem in the robotics community, yet existing work largely falls into one of two categories: computationally efficient but with few if any safety guarantees, or able to give stronger guarantees…
Search-based motion planning has been used for mobile robots in many applications. However, it has not been fully developed and applied for planning full state trajectories of Micro Aerial Vehicles (MAVs) due to their complicated dynamics…
In this paper, we focus on generating complex robotic trajectories by merging sequential motion primitives. A robotic trajectory is a time series of positions and orientations ending at a desired target. Hence, we first discuss the…
We extend the behaviour of generic sample-based motion planners to support obstacle avoidance during long-range path following by introducing a new edge-cost metric paired with a curvilinear planning space. The resulting planner generates…
Motion planning and control are key problems in a collection of robotic applications including the design of autonomous agile vehicles and of minimalist manipulators. These problems can be accurately formalized within the language of affine…
In this paper, we consider the automated planning of optimal paths for a robotic team satisfying a high level mission specification. Each robot in the team is modeled as a weighted transition system where the weights have associated…
We present a homotopic approach to solving challenging, optimization-based motion planning problems. The approach uses Homotopy Optimization, which, unlike standard continuation methods for solving homotopy problems, solves a sequence of…
Motion Planning, as a fundamental technology of automatic navigation for the autonomous vehicle, is still an open challenging issue in the real-life traffic situation and is mostly applied by the model-based approaches. However, due to the…
In this paper we present a method for automatically planning optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition system. The…
This paper proposes a local path planning method with a reachable set for Automated vertical Parking Systems (APS). First, given a parking lot layout with a goal position, we define an intermediate pose for the APS to accomplish reverse…
Motion planning under differential constraints is a classic problem in robotics. To date, the state of the art is represented by sampling-based techniques, with the Rapidly-exploring Random Tree algorithm as a leading example. Yet, the…
General-purpose motion planners for automated/autonomous vehicles promise to handle the task of motion planning (including tactical decision-making and trajectory generation) for various automated driving functions (ADF) in a diverse range…
We study an elementary problem of the topological robotics: collective motion of a set of $n$ distinct particles which one has to move from an initial configuration to a final configuration, with the requirement that no collisions occur in…
We propose a novel, multi-layered planning approach for computing paths that satisfy both kinodynamic and spatiotemporal constraints. Our three-part framework first establishes potential sequences to meet spatial constraints, using them to…
Maneuvering a general 2-trailer with a car-like tractor in backward motion is a task that requires significant skill to master and is unarguably one of the most complicated tasks a truck driver has to perform. This paper presents a path…
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…