相关论文: Motion planning and control of a planar polygonal …
We present an algorithm to compute planar linkage topology and geometry, given a user-specified end-effector trajectory. Planar linkage structures convert rotational or prismatic motions of a single actuator into an arbitrarily complex…
We present an algorithm to unfold any triangulated 2-manifold (in particular, any simplicial polyhedron) into a non-overlapping, connected planar layout in linear time. The manifold is cut only along its edges. The resulting layout is…
We study the problem of motion-planning for free-flying multi-link robots and develop a sampling-based algorithm that is specifically tailored for the task. Our work is based on the simple observation that the set of configurations for…
A connected graph is 4-connected if it contains at least five vertices and removing any three of them does not disconnect it. A frequent preprocessing step in graph drawing is to decompose a plane graph into its 4-connected components and…
Enumerating all 3-manifold triangulations of a given size is a difficult but increasingly important problem in computational topology. A key difficulty for enumeration algorithms is that most combinatorial triangulations must be discarded…
We present a general and modular algorithmic framework for path planning of robots. Our framework combines geometric methods for exact and complete analysis of low-dimensional configuration spaces, together with practical, considerably…
A $configuration$ of a linkage $\Gamma$ is a possible positioning of $\Gamma$ in $\mathbb{R}^d$ and the collection of all such forms the configuration space $\mathcal{C}(\Gamma)$ of $\Gamma$. We here introduce the notion of the $symmetric…
Floor-planning is a fundamental step in VLSI chip design. Based upon the concept of orderly spanning trees, we present a simple O(n)-time algorithm to construct a floor-plan for any n-node plane triangulation. In comparison with previous…
Robot motion planning involves computing a sequence of valid robot configurations that take the robot from its initial state to a goal state. Solving a motion planning problem optimally using analytical methods is proven to be PSPACE-Hard.…
In this paper, we introduce LINKS, a dataset of 100 million one degree of freedom planar linkage mechanisms and 1.1 billion coupler curves, which is more than 1000 times larger than any existing database of planar mechanisms and is not…
Parametrized motion planning algorithms have high degrees of universality and flexibility, as they are designed to work under a variety of external conditions, which are viewed as parameters and form part of the input of the underlying…
Navigating rigid body objects through crowded environments can be challenging, especially when narrow passages are presented. Existing sampling-based planners and optimization-based methods like mixed integer linear programming (MILP)…
We design a motion planning algorithm to coordinate the movements of two robots along a figure eight track, in such a way that no collisions occur. We use a topological approach to robot motion planning that relates instabilities in motion…
One of the most important barriers toward a widespread use of mobile robots in unstructured and human populated work environments is the ability to plan a safe path. In this paper, we propose to delegate this activity to a human operator…
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…
This paper addresses non-prehensile rearrangement planning problems where a robot is tasked to rearrange objects among obstacles on a planar surface. We present an efficient planning algorithm that is designed to impose few assumptions on…
We present a complete framework for fast motion planning of non-holonomic autonomous mobile robots in highly complex but structured environments. Conventional grid-based planners struggle with scalability, while many kinematically-feasible…
We present a legged motion planning approach for quadrupedal locomotion over challenging terrain. We decompose the problem into body action planning and footstep planning. We use a lattice representation together with a set of defined body…
The paper surveys topological problems relevant to the motion planning problem of robotics and includes some new results and constructions. First we analyse the notion of topological complexity of configuration spaces which is responsible…
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…