Related papers: A Novel Vector-Field-Based Motion Planning Algorit…
This paper presents a unified approach to realize versatile distributed maneuvering with generalized formations. Specifically, we decompose the robots' maneuvers into two independent components, i.e., interception and enclosing, which are…
Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal solutions to these planning problems are computationally…
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…
This work considers a Motion Planning Problem with Dynamic Obstacles (MPDO) in 2D that requires finding a minimum-arrival-time collision-free trajectory for a point robot between its start and goal locations amid dynamic obstacles moving…
This paper presents a combined strategy for tracking a non-holonomic mobile robot which works under certain operating conditions for system parameters and disturbances. The strategy includes kinematic steering and velocity dynamics learning…
This paper presents a novel control algorithm for robotic manipulators in unstructured environments using proximity sensors partially distributed on the platform. The proposed approach exploits arrays of multi zone Time-of-Flight (ToF)…
Path planning is an important problem with the the applications in many aspects, such as video games, robotics etc. This paper proposes a novel method to address the problem of Deep Reinforcement Learning (DRL) based path planning for a…
In this work, we propose a novel motion planning algorithm to facilitate safety-critical navigation for autonomous mobile robots. The proposed algorithm integrates a real-time dynamic obstacle tracking and mapping system that categorizes…
This paper demonstrates the ability of the harmonic potential field, HPF, planning method to generate a well-behaved constrained path for a robot with second order dynamics in a cluttered environment. It is shown that HPF-based controllers…
In the coordinated motion planning problem, we are given a graph together with the starting and destination vertices of $k$ robots. At each time step, any subset of robots may move, each traversing an edge of the graph, provided that no two…
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…
Navigating cluttered environments is a challenging task for any mobile system. Existing approaches for ground-based mobile systems primarily focus on small wheeled robots, which face minimal constraints with overhanging obstacles and cannot…
In this paper we propose MA-DV2F: Multi-Agent Dynamic Velocity Vector Field. It is a framework for simultaneously controlling a group of vehicles in challenging environments. DV2F is generated for each vehicle independently and provides a…
Navigating an arbitrary-shaped ground robot safely in cluttered environments remains a challenging problem. The existing trajectory planners that account for the robot's physical geometry severely suffer from the intractable runtime. To…
Accurately following a geometric desired path in a two-dimensional space is a fundamental task for many engineering systems, in particular mobile robots. When the desired path is occluded by obstacles, it is necessary and crucial to…
In mobile robot shared control, effectively understanding human motion intention is critical for seamless human-robot collaboration. This paper presents a novel shared control framework featuring planning-level intention prediction. A path…
Planning whole-body motions while taking into account the terrain conditions is a challenging problem for legged robots since the terrain model might produce many local minima. Our coupled planning method uses stochastic and…
In this series of papers, we present a motion planning framework for planning comfortable and customizable motion of nonholonomic mobile robots such as intelligent wheelchairs and autonomous cars. In this first one we present the…
Estimating collision probabilities between robots and environmental obstacles or other moving agents is crucial to ensure safety during path planning. This is an important building block of modern planning algorithms in many application…
This work addresses the problem of motion planning for a group of nonholonomic robots under Visible Light Communication (VLC) connectivity requirements. In particular, we consider an inspection task performed by a Robot Chain Control System…