Related papers: Spatial motion planning with Pythagorean Hodograph…
This paper focuses on spatial time-optimal motion planning, a generalization of the exact time-optimal path following problem that allows the system to plan within a predefined space. In contrast to state-of-the-art methods, we drop the…
Parametrized motion planning algorithms have high degrees of universality and flexibility, as they are designed to work under a variety of external conditions, which are viewed as parameters and form part of the input of the underlying…
This paper presents a method for local motion planning in unstructured environments with static and moving obstacles, such as humans. Given a reference path and speed, our optimization-based receding-horizon approach computes a local…
The distinctive feature of a polynomial parametric speed let polynomial Pythagorean-hodograph (PH) curves be attractive for the design of accurate and efficient application algorithms. We propose a robust path following scheme for the…
This work presents an efficient method to solve a class of continuous-time, continuous-space stochastic optimal control problems of robot motion in a cluttered environment. The method builds upon a path integral representation of the…
We propose a new method for constructing rational spatial Pythagorean Hodograph (PH) curves based on determining a suitable rational framing motion. While the spherical component of the framing motion is arbitrary, the translation part is…
We present a method for constructing all bounded rational motions that frame a space curve $\mathbf{r}(t)$. This means that the motion guides an orthogonal frame along the curve such that one frame axis is in direction of the curve tangent.…
We describe parametrised motion planning algorithms for systems controlling objects represented by points that move without collisions in an even dimensional Euclidean space and in the presence of up to three obstacles with \emph{a priori}…
This paper presents a framework for fast and robust motion planning designed to facilitate automated driving. The framework allows for real-time computation even for horizons of several hundred meters and thus enabling automated driving in…
Using a residuum approach, we provide a complete description of the space of the rational spatial curves of given tangent directions. The rational Pythagorean hodograph curves are obtained as a special case when the norm of the direction…
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…
Motion planning in modified environments is a challenging task, as it compounds the innate difficulty of the motion planning problem with a changing environment. This renders some algorithmic methods such as probabilistic roadmaps less…
In this work, we present a workspace-based planning framework, which though using redundant workspace key-points to represent robot states, can take advantage of the interpretable geometric information to derive good quality collision-free…
Motion planning is a key tool that allows robots to navigate through an environment without collisions. The problem of robot motion planning has been studied in great detail over the last several decades, with researchers initially focusing…
In this work, we introduce SPADE, a path planning framework designed for autonomous navigation in dynamic environments using 3D scene graphs. SPADE combines hierarchical path planning with local geometric awareness to enable collision-free…
This paper proposes a solution to the problem of smooth path planning for mobile robots in dynamic and unknown environments. A novel concept of Time-Warped Grid is introduced to predict the pose of obstacles in the environment and avoid…
This paper addresses the problem of determining the symmetries of a plane or space curve defined by a rational parametrization. We provide effective methods to compute the involution and rotation symmetries for the planar case. As for space…
Path planning in dynamic environments is essential to high-risk applications such as unmanned aerial vehicles, self-driving cars, and autonomous underwater vehicles. In this paper, we generate collision-free trajectories for a robot within…
The paper deals with motion planning for a spin-rolling sphere when the sphere follows a straight path on a plane. Since the motion of the sphere is constrained by the straight line, the control of the sphere's spin motion is essential to…
Motion planning in the presence of multiple dynamic obstacles is an important research problem from the perspective of autonomous vehicles as well as space-constrained multi-robot work environment. In this paper, we address the motion…