Related papers: Integrating path-planning and control for robotic …
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…
In this paper, we deal with the problem of full-body path planning for walking robots. The state of walking robots is defined in multi-dimensional space. Path planning requires defining the path of the feet and the robot's body. Moreover,…
Trajectory Planning is a crucial word in Modern & Advanced Robotics. It's a way of generating a smooth and feasible path for the robot to follow over time. The process primarily takes several factors to generate the path, such as velocity,…
An important capability of autonomous multi-robot systems is to prevent collision among the individual robots. One approach to this problem is to plan conflict-free trajectories and let each of the robots follow its pre-planned trajectory.…
Maneuvering an articulated vehicle on narrow road stretches is often a challenging task for a human driver. Unless the vehicle is accurately steered, parts of the vehicle's bodies may exceed its assigned drive lane, resulting in an…
Efficient motion planning algorithms are of central importance for deploying robots in the real world. Unfortunately, these algorithms often drastically reduce the dimensionality of the problem for the sake of feasibility, thereby foregoing…
The ability to update a path plan is a required capability for autonomous mobile robots navigating through uncertain environments. This paper proposes a re-planning strategy using a multilayer planning and control framework for cases where…
Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for…
Planning for legged-wheeled machines is typically done using trajectory optimization because of many degrees of freedom, thus rendering legged-wheeled planners prone to falling prey to bad local minima. We present a combined sampling and…
This paper presents a robust tracking controller for tracking curvature-constrained paths by vehicles/robots with uncertain Dubins dynamics. Although Dubins paths have been widely used in vehicular and robotic applications, robust and…
Modeling and simulation of pedestrian behavior is used in applications such as planning large buildings, disaster management, or urban planning. Realistically simulating pedestrian behavior is challenging, due to the complexity of…
This paper proposes a novel online motion planning approach to robot navigation based on nonlinear model predictive control. Common approaches rely on pure Euclidean optimization parameters. In robot navigation, however, state spaces often…
Mapping is a time-consuming process for deploying robotic systems to new environments. The handling of maps is also risk-adverse when not managed effectively. We propose here, a standardised approach to handling such maps in a manner which…
This paper presents a novel feedback method on the motion planning for unicycle robots in environments with static obstacles, along with an extension to the distributed planning and coordination in multi-robot systems. The method employs a…
For successful goal-directed human-robot interaction, the robot should adapt to the intentions and actions of the collaborating human. This can be supported by musculoskeletal or data-driven human models, where the former are limited to…
This paper presents the design concept, modeling and motion planning solution for the aerial robotic chain. This design represents a configurable robotic system of systems, consisting of multi-linked micro aerial vehicles that…
This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…
Skill-based programming of robots provides a flexible approach for automation. Existing solutions neglect the optimization of motion sequences, leading to inefficiencies in execution. This work introduces a planning method that enhances…
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.…
We study the problem of sampling robot trajectories and introduce the notion of C-Uniformity. As opposed to the standard method of uniformly sampling control inputs (which lead to biased samples of the configuration space), C-Uniform…