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In recent decades, global path planning of robot has seen significant advancements. Both heuristic search-based methods and probability sampling-based methods have shown capabilities to find feasible solutions in complex scenarios. However,…
Path planning for wheeled mobile robots is a critical component in the field of automation and intelligent transportation systems. Car-like vehicles, which have non-holonomic constraints on their movement capability impose additional…
Real-time motion planning is a vital function of robotic systems. Different from existing roadmap algorithms which first determine the free space and then determine the collision-free path, researchers recently proposed several convex…
Minimum-time speed profiles are constructed for planar paths with smooth strictly-monotonic signed curvature, subject to constraints on velocity, normal acceleration and tangential acceleration. The construction is explicit and exact, and…
We present a fast algorithm for the design of smooth paths (or trajectories) that are constrained to lie in a collection of axis-aligned boxes. We consider the case where the number of these safe boxes is large, and basic preprocessing of…
We propose a novel method for planning shortest length piecewise-linear motions through complex environments punctured with static, moving, or even morphing obstacles. Using a moment optimization approach, we formulate a hierarchy of…
This paper studies path synthesis for nonholonomic mobile robots moving in two-dimensional space. We first address the problem of interpolating paths expressed as sequences of straight line segments, such as those produced by some planning…
We consider the motion planning problem for a point constrained to move along a smooth closed convex path of bounded curvature. The workspace of the moving point is bounded by a convex polygon with m vertices, containing an obstacle in a…
Autonomous agents face the challenge of coordinating multiple tasks (perception, motion planning, controller) which are computationally expensive on a single onboard computer. To utilize the onboard processing capacity optimally, it is…
We propose a simple, geometrically-motivated construction of smooth random paths in the plane. The construction is such that, with probability one, the paths have finite curvature everywhere (and the realizations are visually pleasing when…
Feedback motion planning over cell decompositions provides a robust method for generating collision-free robot motion with formal guarantees. However, existing algorithms often produce paths with unnecessary bending, leading to slower…
In this paper, we propose a computationally efficient quadratic programming (QP) approach for generating smooth, $C^1$ continuous paths for mobile robots using piece-wise quadratic Bezier (PWB) curves. Our method explicitly incorporates…
Trajectory planning is commonly used as part of a local planner in autonomous driving. This paper considers the problem of planning a continuous-curvature-rate trajectory between fixed start and goal states that minimizes a tunable…
Path generation, the process of converting high-level mission specifications, such as sequences of waypoints from a path planner, into smooth, executable paths, is a fundamental challenge in mobile robotics. Most path following and…
This paper describes an efficient approach to constructing a resultant polyline with a minimum number of segments and arcs. While fitting an arc can be done with complexity O(1) (see [1] and [2]), the main complexity is in checking that the…
We study a path-planning problem amid a set $\mathcal{O}$ of obstacles in $\mathbb{R}^2$, in which we wish to compute a short path between two points while also maintaining a high clearance from $\mathcal{O}$; the clearance of a point is…
In this paper, we study spline trajectory generation via the solution of two optimisation problems: (i) a quadratic program (QP) with linear equality constraints and (ii) a nonlinear and nonconvex optimisation program. We propose an…
Motion planning in the presence of multiple dynamic obstacles is an important research problem from the perspective of autonomous vehicles as well as space-constrained multi-robot work environment. In this paper, we address the motion…
This paper presents a new method to generate tool paths for machining freeform surfaces represented either as parametric surfaces or as triangular meshes. This method allows for the optimal tradeoff between the preferred feed direction…
We introduce a method for efficiently computing the exact shortest path to the boundary of a mesh from a given internal point in the presence of self-intersections. We provide a formal definition of shortest boundary paths for…