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Mobile robots, especially those driving outdoors and in unstructured terrain, sometimes suffer from failures and errors in locomotion, like unevenly pressurized or flat tires, loose axes or de-tracked tracks. Those are errors that go…
A new path planning method for Mobile Robots (MR) has been developed and implemented. On the one hand, based on the shortest path from the start point to the goal point, this path planner can choose the best moving directions of the MR,…
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…
Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…
Practical global path planning is critical for commercializing cleaning robots working in semi-structured environments. In the literature, global path planning methods for free space usually focus on path length and neglect the traffic rule…
In this paper, a novel knowledge-based genetic algorithm for path planning of a mobile robot in unstructured complex environments is proposed, where five problem-specific operators are developed for efficient robot path planning. The…
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…
A great advantage of legged robots is their ability to operate on particularly difficult and obstructed terrain, which demands dynamic, robust, and precise movements. The study of obstacle courses provides invaluable insights into the…
Path planning in the presence of dynamic obstacles is a challenging problem due to the added time dimension in search space. In approaches that ignore the time dimension and treat dynamic obstacles as static, frequent re-planning is…
We present a planning framework designed for humanoid navigation over challenging terrain. This framework is designed to plan a traversable, smooth, and collision-free path using a 2.5D height map. The planner is comprised of two stages.…
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…
The aim of this book is to introduce different robot path planning algorithms and suggest some of the most appropriate ones which are capable of running on a variety of robots and are resistant to disturbances. Being real-time, being…
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…
We consider the problem of walking in an unknown street, for a robot that has a minimal sensing capability. The robot is equipped with a sensor that only detects the discontinuities in depth information (gaps) and can locate the target…
This work presents a novel data-driven path planning algorithm named Instruction-Guided Probabilistic Roadmap (IG-PRM). Despite the recent development and widespread use of mobile robot navigation, the safe and effective travels of mobile…
Many exciting robotic applications require multiple robots with many degrees of freedom, such as manipulators, to coordinate their motion in a shared workspace. Discovering high-quality paths in such scenarios can be achieved, in principle,…
High-speed legged navigation in discrete and geometrically complex environments is a challenging task because of the high-degree-of-freedom dynamics and long-horizon, nonconvex nature of the optimization problem. In this work, we propose a…
With the increasing integration of robots into human life, their role in architectural spaces where people spend most of their time has become more prominent. While motion capabilities and accurate localization for automated robots have…
Humanoid robots, designed to operate in human-centric environments, serve as a fundamental platform for a broad range of tasks. Although humanoid robots have been extensively studied for decades, a majority of existing humanoid robots still…