Related papers: An Analytic Solution to the 3D CSC Dubins Path Pro…
This article proposes the first known algorithm that achieves a constant-factor approximation of the minimum length tour for a Dubins' vehicle through $n$ points on the plane. By Dubins' vehicle, we mean a vehicle constrained to move at…
This paper presents the reachability analysis of curves in $\mathbb{R}^3$ with a prescribed curvature bound. Based on Pontryagin Maximum Principle, we leverage the existing knowledge on the structure of solutions to minimum-time problems,…
We bring a control perspective to the problem of identifying paths of measures for sampling via dynamic measure transport (DMT). We highlight the fact that commonly used paths may be poor choices for DMT and connect existing methods for…
We present a trajectory generation framework for control of wheeled vehicles under steering actuator constraints. The motivation is smooth autonomous driving of heavy vehicles. The key idea is to take into account rate, and additionally,…
We investigate the problem of finding paths that enable a robot modeled as a Dubins car (i.e., a constant-speed finite-turn-rate unicycle) to escape from a circular region of space in minimum time. This minimum-time escape problem arises in…
Path planning for multiple unmanned aerial vehicles is a difficult task, and even more for a fleet of fixed-wing aircraft. One specific case is the transition to, or between, formation flight patterns, which requires synchronous arrivals…
Effective path planning is a pivotal challenge across various domains, from robotics to logistics and beyond. This research is centred on the development and evaluation of the Dynamic Curvature-Constrained Path Planning Algorithm (DCCPPA)…
This paper presents an algorithm for detecting and computing the cusp points in the joint space of 3-RPR planar parallel manipulators. In manipulator kinematics, cusp points are special points, which appear on the singular curves of the…
This work develops feasible path trajectories for a coordinated strike with multiple aircraft in a constrained environment. Using direct orthogonal collocation methods, the two-point boundary value optimal control problem is transcribed…
The Minimum Path Cover (MPC) problem consists of finding a minimum-cardinality set of node-disjoint paths that cover all nodes in a given graph. We explore a variant of the MPC problem on acyclic digraphs (DAGs) where, given a subset of…
In this article, we consider the motion planning of a rigid object on the unit sphere with a unit speed. The motion of the object is constrained by the maximum absolute value, $U_{max}$ of geodesic curvature of its path; this constrains the…
In this contribution I show that it is possible to construct three-dimensional spaces of non-constant curvature, i.e. three-dimensional Darboux-spaces. Two-dimensional Darboux spaces have been introduced by Kalnins et al., with a path…
Dubins tours represent a solution of the Dubins Traveling Salesman Problem (DTSP) that is a variant of the optimization routing problem to determine a curvature-constrained shortest path to visit a set of locations such that the path is…
A cuspidal robot can move from one inverse kinematics (IK) solution to another without crossing a singularity. Multiple industrial robots are cuspidal. They tend to have a beautiful mechanical design, but they pose path planning challenges.…
Piecewise constant curvature is a popular kinematics framework for continuum robots. Computing the model parameters from the desired end pose, known as the inverse kinematics problem, is fundamental in manipulation, tracking and planning…
The problem of finding the shortest path for a vehicle visiting a given sequence of target points subject to the motion constraints of the vehicle is an important problem that arises in several monitoring and surveillance applications…
The quadratic shortest path problem is the problem of finding a path in a directed graph such that the sum of interaction costs over all pairs of arcs on the path is minimized. We derive several semidefinite programming relaxations for the…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
Path planning is an important component in any highly automated vehicle system. In this report, the general problem of path planning is considered first in partially known static environments where only static obstacles are present but the…
We present a unified approach for constraint displacement problems in which a robot finds a feasible path by displacing constraints or obstacles. To this end, we propose a two stage process that returns locally optimal obstacle…