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The rapid development of robotics has benefited by more and more people putting their attention to it. With the demand for robots is growing for the purpose of fulfilling tasks instead of humans, how to control the robot better is becoming…

It is a challenging task for ground robots to autonomously navigate in harsh environments due to the presence of non-trivial obstacles and uneven terrain. This requires trajectory planning that balances safety and efficiency. The primary…

Motion planning is a key element of robotics since it empowers a robot to navigate autonomously. Particle Swarm Optimization is a simple, yet a very powerful optimization technique which has been effectively used in many complex…

Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…

The paper presents an experimental study of resilient path planning for con-tinuum robots taking into account the multi-objective optimisation problem. To do this, we used two well-known algorithms, namely Genetic algorithm and A*…

This paper is concerned with problems relevant to motion planning in robotics. Configuration spaces are of practical relevance in designing safe control schemes for robots moving on a track. The topological complexity of a configuration…

Robots need to understand their environment to perform their task. If it is possible to pre-program a visual scene analysis process in closed environments, robots operating in an open environment would benefit from the ability to learn it…

We study an extensive class of movement minimization problems which arise from many practical scenarios but so far have little theoretical study. In general, these problems involve planning the coordinated motion of a collection of agents…

Autonomous navigation in extreme mountainous terrains poses challenges due to the presence of mobility-stressing elements and undulating surfaces, making it particularly difficult compared to conventional off-road driving scenarios. In such…

This paper studies the traffic monitoring problem in a road network using a team of aerial robots. The problem is challenging due to two main reasons. First, the traffic events are stochastic, both temporally and spatially. Second, the…

Path planning of Robot is one of the challenging fields in the area of Robotics research. In this paper, we proposed a novel algorithm to find path between starting and ending position for an intelligent system. An intelligent system is…

We study the parameterized complexity of a generalization of the coordinated motion planning problem on graphs, where the goal is to route a specified subset of a given set of $k$ robots to their destinations with the aim of minimizing the…

We provide the first step toward developing a hierarchical control-estimation framework to actively plan robot trajectories for anomaly detection in confined spaces. The space is represented globally using a directed region graph, where a…

Autonomous navigation requires planning to reach a goal safely and efficiently in complex and potentially dynamic environments. Graph search-based algorithms are widely adopted due to their generality and theoretical guarantees when…

Locomotion for legged robots poses considerable challenges when confronted by obstacles and adverse environments. Footstep planners are typically only designed for one mode of locomotion, but traversing unfavorable environments may require…

Planning for robotic manipulation requires reasoning about the changes a robot can affect on objects. When such interactions can be modelled analytically, as in domains with rigid objects, efficient planning algorithms exist. However, in…

Precise calibration is the basis for the vision-guided robot system to achieve high-precision operations. Systems with multiple eyes (cameras) and multiple hands (robots) are particularly sensitive to calibration errors, such as…

In order to solve complex, long-horizon tasks, intelligent robots need to carry out high-level, abstract planning and reasoning in conjunction with motion planning. However, abstract models are typically lossy and plans or policies computed…

We study the problem of planning the deployments of a group of mobile robots. While the problem and formulation can be used for many different problems, here we use a bridge inspection as the motivating application for the purpose of…

Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…