Related papers: Multi-Robot Motion Planning for Unit Discs with Re…
Robotic surgery for minimally invasive surgery can reduce the surgeon's workload by autonomously guiding robotic forceps. Movement of the robot is restricted around a fixed insertion port. The robot often encounters angle limitations during…
We consider the motion planning problem for a point constrained to move along a smooth closed convex path of bounded curvature. The workspace of the moving point is bounded by a convex polygon with m vertices, containing an obstacle in a…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
In this paper, a kinematic motion planning algorithm for cooperative spatial payload manipulation is presented. A hierarchical approach is introduced to compute real-time collision-free motion plans for a formation of mobile manipulator…
Autonomous systems, including robots and drones, face significant challenges when navigating through dynamic environments, particularly within urban settings where obstacles, fluctuating traffic, and pedestrian activity are constantly…
We consider the problem of reconfiguring a two-dimensional connected grid arrangement of passive building blocks from a start configuration to a goal configuration, using a single active robot that can move on the tiles, remove individual…
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…
This paper presents planning algorithms for a robotic manipulator with a fixed base in order to grasp a target object in cluttered environments. We consider a configuration of objects in a confined space with a high density so no…
The Orthogonal Watchman Route Problem (OWRP) entails the search for the shortest path, known as the watchman route, that a robot must follow within a polygonal environment. The primary objective is to ensure that every point in the…
This paper investigates Path planning Among Movable Obstacles (PAMO), which seeks a minimum cost collision-free path among static obstacles from start to goal while allowing the robot to push away movable obstacles (i.e., objects) along its…
Fast and efficient motion planning algorithms are crucial for many state-of-the-art robotics applications such as self-driving cars. Existing motion planning methods become ineffective as their computational complexity increases…
The Meeting problem for $k\geq 2$ searchers in a polygon $P$ (possibly with holes) consists in making the searchers move within $P$, according to a distributed algorithm, in such a way that at least two of them eventually come to see each…
The protection of pathways holds immense significance across various domains, including urban planning, transportation, surveillance, and security. This article introduces a groundbreaking approach to safeguarding pathways by employing…
Traditional multi-robot motion planning (MMP) focuses on computing trajectories for multiple robots acting in an environment, such that the robots do not collide when the trajectories are taken simultaneously. In safety-critical…
It is well-known that a deep understanding of co-workers' behavior and preference is important for collaboration effectiveness. In this work, we present a method to accomplish smooth human-robot collaboration in close proximity by taking…
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…
An autonomous robot with a limited vision range finds a path to the goal in an unknown environment in 2D avoiding polygonal obstacles. In the process of discovering the environmental map, the robot has to return to some positions marked…
Planning collision-free paths for multi-robot systems (MRS) is a challenging problem because of the safety and efficiency constraints required for real-world solutions. Even though coupled path planning approaches provide optimal…
Motion planning is a fundamental problem in autonomous robotics that requires finding a path to a specified goal that avoids obstacles and takes into account a robot's limitations and constraints. It is often desirable for this path to also…
We present a complete framework for fast motion planning of non-holonomic autonomous mobile robots in highly complex but structured environments. Conventional grid-based planners struggle with scalability, while many kinematically-feasible…