Related papers: A Discrete Topological Complexity of Discrete Moti…
This paper addresses path set planning that yields important applications in robot manipulation and navigation such as path generation for deformable object keypoints and swarms. A path set refers to the collection of finite agent paths to…
Motion planning is critical to realize the autonomous operation of mobile robots. As the complexity and randomness of robot application scenarios increase, the planning capability of the classical hierarchical motion planners is challenged.…
This work builds on an existing model of discrete canonical evolution and applies it to the general case of a linear dynamical system, i.e., a finite-dimensional system with configuration space isomorphic to $ \mathbb{R}^{q} $ and linear…
Consider a robot operating in an uncertain environment with stochastic, dynamic obstacles. Despite the clear benefits for trajectory optimization, it is often hard to keep track of each obstacle at every time step due to sensing and…
We compute the higher topological complexity of ordered configuration spaces of orientable surfaces, thus extending Cohen-Farber's description of the ordinary topological complexity of those spaces.
Group based moving frames have a wide range of applications, from the classical equivalence problems in differential geometry to more modern applications such as computer vision. Here we describe what we call a discrete group based moving…
In this paper, we approach the challenging problem of motion planning for knot tying. We propose a hierarchical approach in which the top layer produces a topological plan and the bottom layer translates this plan into continuous robot…
There are many challenges for robot navigation in densely populated dynamic environments. This paper presents a survey of the path planning methods for robot navigation in dense environments. Particularly, the path planning in the…
One of the main foci of robotics is nowadays centered in providing a great degree of autonomy to robots. A fundamental step in this direction is to give them the ability to plan in discrete and continuous spaces to find the required motions…
Farber and Rudyak introduced topological complexity $\mathbf{TC}(X)$ of motion planning and its higher analogs $\mathbf{TC}_n(X)$ to measure the complexity of assigning paths to point tuples. Motivated by motion planning where a robotic…
Digital topology has its own working conditions and sometimes differs from the normal topology. In the area of topological robotics, we have important counterexamples in this study to emphasize this red line between a digital image and a…
Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…
In robotics, a topological theory of motion planning was initiated by M. Farber. The multitasking motion planning problem is new and its theoretical part via topological complexity has hardly been developed, but the concrete implementations…
The design and implementation of theoretically-sound robot motion planning algorithms is challenging. Within the framework of resolution-exact algorithms, it is possible to exploit soft predicates for collision detection. The design of soft…
In this paper we show how rule-based decision making can be combined with traditional motion planning techniques to achieve human-like behavior of a self-driving vehicle in complex traffic situations. We give and discuss examples of…
The present paper mainly presents, for example, explicit classifications of compact smooth manifolds having non-empty boundaries and simple structures where the dimensions are general. Studies of this type is fundamental and important. They…
Planning motions to grasp an object in cluttered and uncertain environments is a challenging task, particularly when a collision-free trajectory does not exist and objects obstructing the way are required to be carefully grasped and moved…
It is necessary for a mobile robot to be able to efficiently plan a path from its starting, or current, location to a desired goal location. This is a trivial task when the environment is static. However, the operational environment of the…
In fast-paced, ever-changing environments, dynamic Motion Planning for Multi-Agent Systems in the presence of obstacles is a universal and unsolved problem. Be it from path planning around obstacles to the movement of robotic arms, or in…
A motion planning algorithm computes the motion of a robot by computing a path through its configuration space. To improve the runtime of motion planning algorithms, we propose to nest robots in each other, creating a nested quotient-space…