Related papers: A Dual Quaternion based RRT* Path Planning Approac…
In this paper we consider the localization problem for a visual sensor network. Inspired by the alternate attitude and position distributed optimization framework discussed in [1], we propose an estimation scheme that exploits the unit dual…
Planning balanced and collision-free motion for humanoid robots is non-trivial, especially when they are operated in complex environments, such as reaching targets behind obstacles or through narrow passages. We propose a method that allows…
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…
Sampling-based planning algorithms like Rapidly-exploring Random Tree (RRT) are versatile in solving path planning problems. RRT* offers asymptotic optimality but requires growing the tree uniformly over the free space, which leaves room…
Tendon-driven continuum robots (TDCRs), with their flexible backbones, offer the advantage of being used for navigating complex, cluttered environments. However, to do so, they typically require multiple segments, often leading to complex…
RRT* is an efficient sampling-based motion planning algorithm. However, without taking advantages of accessible environment information, sampling-based algorithms usually result in sampling failures, generate useless nodes, and/or fail in…
Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant…
This paper proposes a novel method of coverage path planning for the purpose of scanning an unstructured environment autonomously. The method uses the morphological skeleton of the prior 2D navigation map via SLAM to generate a sequence of…
Planning the motion path for a tightly coupled dual-arm space manipulator under closed-chain constraints is a fundamental yet challenging problem in on-orbit assembly of large-scale space structures. The closed-chain constraints…
This paper proposes a control solution to achieve collision-free platooning control of input-constrained mobile robots. The platooning policy is based on a leader-follower approach where the leader tracks a reference trajectory while…
We consider path planning for a rigid spatial robot moving amidst polyhedral obstacles. Our robot is either a rod or a ring. Being axially-symmetric, their configuration space is R^3 x S^2 with 5 degrees of freedom (DOF). Correct, complete…
This paper presents a method for guiding a robot manipulator to capture and bring a tumbling satellite to a state of rest. The proposed approach includes developing a coordination control for the combined system of the space robot and the…
In the context of robotics, accurate ground-truth positioning is the cornerstone for the development of mapping and localization algorithms. In outdoor environments and over long distances, total stations provide accurate and precise…
During complex object manipulation, manipulator systems often face the configuration disconnectivity problem due to closed-chain constraints. Although regrasping can be adopted to get a piecewise connected manipulation, it is a challenging…
With the ever growing number of space debris in orbit, the need to prevent further space population is becoming more and more apparent. Refueling, servicing, inspection and deorbiting of spacecraft are some example missions that require…
Wheeled robot navigation has been widely used in urban environments, but little research has been conducted on its navigation in wild vegetation. External sensors (LiDAR, camera etc.) are often used to construct point cloud map of the…
In this paper, we address the problem of online quadrotor whole-body motion planning (SE(3) planning) in unknown and unstructured environments. We propose a novel multi-resolution search method, which discovers narrow areas requiring full…
In this work, we explore how conventional motion planning algorithms can be reapplied to contact-rich manipulation tasks. Rather than focusing solely on efficiency, we investigate how manipulation aspects can be recast in terms of…
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…
Rapidly-exploring Random Trees (RRT) and its variations have emerged as a robust and efficient tool for finding collision-free paths in robotic systems. However, adding dynamic constraints makes the motion planning problem significantly…