Related papers: Minimum Displacement Motion Planning for Movable O…

We address the problem of motion planning for a robotic manipulator with the task to place a grasped object in a cluttered environment. In this task, we need to locate a collision-free pose for the object that a) facilitates the stable…

The main aim of this paper is to solve a path planning problem for an autonomous mobile robot in static and dynamic environments. The problem is solved by determining the collision-free path that satisfies the chosen criteria for shortest…

In this paper, we formulate a novel trajectory optimization scheme that takes into consideration the state uncertainty of the robot and obstacle into its collision avoidance routine. The collision avoidance under uncertainty is modeled here…

Planning smooth and energy-efficient motions for wheeled mobile robots is a central task for applications ranging from autonomous driving to service and intralogistic robotics. Over the past decades, a wide variety of motion planners, steer…

Collision avoidance in unknown obstacle-cluttered environments may not always be feasible. This paper focuses on an emerging paradigm shift in which potential collisions with the environment can be harnessed instead of being avoided…

Motion planners take uncertain information about the environment as an input. The environment information is often quite noisy and has a tendency to contain false positive object detection. State-of-the-art motion planners consider all…

Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…

In the pattern formation problem, robots in a system must self-coordinate to form a given pattern, regardless of translation, rotation, uniform-scaling, and/or reflection. In other words, a valid final configuration of the system is a…

Minimising the longest travel distance for a group of mobile robots with interchangeable goals requires knowledge of the shortest length paths between all robots and goal destinations. Determining the exact length of the shortest paths in…

In this paper, we propose a distributed algorithm to solve planar minimum time multi-vehicle rendezvous problem with non-identical velocity constraints on cyclic digraph (topology). Motivated by the cyclic alternating projection method that…

We study the problem of motion planning for a collection of $n$ labeled unit disc robots in a polygonal environment. We assume that the robots have revolving areas around their start and final positions: that each start and each final is…

This paper presents a method for constrained motion planning from vision, which enables a robot to move its end-effector over an observed surface, given start and destination points. The robot has no prior knowledge of the surface shape,…

This paper addresses the problem of planning for a robot with a directional obstacle-detection sensor that must move through a cluttered environment. The planning objective is to remain safe by finding a path for the complete robot,…

We present an algorithm that produces a plan for relocating obstacles in order to grasp a target in clutter by a robotic manipulator without collisions. We consider configurations where objects are densely populated in a constrained and…

This paper investigates different methods to detect obstacles ahead of a robot using a camera in the robot, an aerial camera, and an ultrasound sensor. We also explored various efficient path finding methods for the robot to navigate to the…

In this paper we study paramertized motion planning algorithms which provide universal and flexible solutions to diverse motion planning problems. Such algorithms are intended to function under a variety of external conditions which are…

This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only…

We study the problem of determining coordinated motions, of minimum total length, for two arbitrary convex centrally-symmetric (CCS) robots in an otherwise obstacle-free plane. Using the total path length traced by the two robot centres as…

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…

Locomotion for legged robots poses considerable challenges when confronted by obstacles and adverse environments. Footstep planners are typically only designed for one mode of locomotion, but traversing unfavorable environments may require…