Related papers: Sequential parametrized motion planning and its co…
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…
Path planning for multiple tethered robots is a challenging problem due to the complex interactions among the cables and the possibility of severe entanglements. Previous works on this problem either consider idealistic cable models or…
We study unlabeled multi-robot motion planning for unit-disk robots in a polygonal environment. Although the problem is hard in general, polynomial-time solutions exist under appropriate separation assumptions on start and target positions.…
The Topological complexity a la Farber $\text{TC}(-)$ is a homotopy invariant which have interesting applications in Robotics, specifically, in the robot motion planning problem. In this work we calculate the topological complexity of the…
We consider the unlabeled motion-planning problem of $m$ unit-disc robots moving in a simple polygonal workspace of $n$ edges. The goal is to find a motion plan that moves the robots to a given set of $m$ target positions. For the unlabeled…
Feedback motion planning over cell decompositions provides a robust method for generating collision-free robot motion with formal guarantees. However, existing algorithms often produce paths with unnecessary bending, leading to slower…
We provide explicit motion planners for Euiclidean configuration spaces. This allows us to recover some known values of the topological complexity and the Lusternik-Schinirelman category of these spaces.
Traversing environments with arbitrary obstacles poses significant challenges for bipedal robots. In some cases, whole body motions may be necessary to maneuver around an obstacle, but most existing footstep planners can only select from a…
We study the problem of motion-planning for free-flying multi-link robots and develop a sampling-based algorithm that is specifically tailored for the task. Our work is based on the simple observation that the set of configurations for…
Learning motion planners to move robot from one point to another within an obstacle-occupied space in a collision-free manner requires either an extensive amount of data or high-quality demonstrations. This requirement is caused by the fact…
This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control…
When planning motions in a configuration space that has underlying symmetries (e.g. when manipulating one or multiple symmetric objects), the ideal planning algorithm should take advantage of those symmetries to produce shorter…
This paper presents Latent Sampling-based Motion Planning (L-SBMP), a methodology towards computing motion plans for complex robotic systems by learning a plannable latent representation. Recent works in control of robotic systems have…
In this work we will review the notion of topological complexity, introduced by Michael Farber in 2003. We will use this theory of topological complexity to solve the motion planning problem of a mobile robot that navigates in the Euclidean…
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…
Picking manipulators are task specific robots, with fewer degrees of freedom compared to general-purpose manipulators, and are heavily used in industry. The efficiency of the picking robots is highly dependent on the path planning solution,…
We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain…
A fundamental challenge in multi-robot motion planning is achieving sufficient coordination to avoid inter-robot conflicts without incurring the large computational expense of searching the joint configuration space of the robot group. In…
For safe operation, a robot must be able to avoid collisions in uncertain environments. Existing approaches for motion planning under uncertainties often assume parametric obstacle representations and Gaussian uncertainty, which can be…
Multiple mobile manipulators show superiority in the tasks requiring mobility and dexterity compared with a single robot, especially when manipulating/transporting bulky objects. However, closed-chain of the system, redundancy of each…