Related papers: 3D Path Planning and Obstacle Avoidance Algorithms…
In the context of autonomous robots, one of the most important tasks is to prevent potential damage to the robot during navigation. For this purpose, it is often assumed that one must deal with known probabilistic obstacles, then compute…
Coordinating the motion of multiple robots in cluttered environments remains a computationally challenging task. We study the problem of minimizing the execution time of a set of geometric paths by a team of robots with state-dependent…
This paper introduces a new paradigm of optimal path planning, i.e., passage-traversing optimal path planning (PTOPP), that optimizes paths' traversed passages for specified optimization objectives. In particular, PTOPP is utilized to find…
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…
Path planning in the multi-robot system refers to calculating a set of actions for each robot, which will move each robot to its goal without conflicting with other robots. Lately, the research topic has received significant attention for…
We study the path planning problem for continuum-arm robots, in which we are given a starting and an end point, and we need to compute a path for the tip of the continuum arm between the two points. We consider both cases where obstacles…
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…
Industrial manipulators have extensively collaborated with human operators to execute tasks, e.g., disassembly of end-of-use products, in intelligent remanufacturing. A safety task execution requires real-time path planning for the…
Till now, many path planning algorithms have been proposed in the literature. The objective of these algorithms is to find the quickest path between initial position to the end position in a certain environment. The complexity of these…
The research and development of intelligent automation solutions is a ground-breaking point for the factory of the future. A promising and challenging mission is the use of autonomous robot systems to automate tasks in the field of…
Within this paper, the problem of 3D structural inspection path planning for distributed infrastructure using aerial robots that are subject to time constraints is addressed. The proposed algorithm handles varying spatial properties of the…
As the demands of autonomous mobile robots are increasing in recent years, the requirement of the path planning/navigation algorithm should not be content with the ability to reach the target without any collisions, but also should try to…
Task And Motion Planning (TAMP) is the problem of finding a solution to an automated planning problem that includes discrete actions executable by low-level continuous motions. This field is gaining increasing interest within the robotics…
Global path planning is the key technology in the design of unmanned surface vehicles. This paper establishes global environment modelling based on electronic charts and hexagonal grids which are proved to be better than square grids in…
In this paper, we present an innovative technique for the path planning of flying robots in a 3D environment in Rough Mereology terms. The main goal was to construct the algorithm that would generate the mereological potential fields in…
Exploration in dynamic and uncertain real-world environments is an open problem in robotics and constitutes a foundational capability of autonomous systems operating in most of the real world. While 3D exploration planning has been…
The trade-off between computation time and path optimality is a key consideration in motion planning algorithms. While classical sampling based algorithms fall short of computational efficiency in high dimensional planning, learning based…
Autonomous robot navigation systems often rely on hierarchical planning, where global planners compute collision-free paths without considering dynamics, and local planners enforce dynamics constraints to produce executable commands. This…
Fast and efficient sampling-based motion planning (SMP) is an integral component of many robotic systems, such as autonomous cars. A popular technique to improve the efficiency of these planners is to restrict search space in the planning…
Cooperative path planning, a crucial aspect of multi-agent systems research, serves a variety of sectors, including military, agriculture, and industry. Many existing algorithms, however, come with certain limitations, such as simplified…