相关论文: Finding shorter paths for robot arms using their r…

Wireless communications is nowadays an important aspect of robotics. There are many applications in which a robot must move to a certain goal point while transmitting information through a wireless channel which depends on the particular…

The scientific community is able to present a new set of solutions to practical problems that substantially improve the performance of modern technology in terms of efficiency and speed of computation due to the advancement in neural…

The paper presents an experimental study of resilient path planning for con-tinuum robots taking into account the multi-objective optimisation problem. To do this, we used two well-known algorithms, namely Genetic algorithm and A*…

In order to safely and efficiently collaborate with humans, industrial robots need the ability to alter their motions quickly to react to sudden changes in the environment, such as an obstacle appearing across a planned trajectory. In…

Autonomous robot teams navigating partially known environments face costly backtracking when ground robots encounter blocked roads that are only revealed upon physical traversal. We address this with Scout-Assisted Planning, a heterogeneous…

Real-time long-range local planning is a challenging task, especially in the presence of dynamics obstacles. We propose a complete system which is capable of performing the local replanning in real-time. Desired trajectory is needed in the…

Pruning is the art of cutting unwanted and unhealthy plant branches and is one of the difficult tasks in the field robotics. It becomes even more complex when the plant branches are moving. Moreover, the reproducibility of robot pruning…

Sidewalk delivery robots are a promising solution for last-mile freight distribution. Yet, they operate in dynamic environments characterized by pedestrian flows and potential obstacles, which make travel times highly uncertain and can…

In industry assembly lines, parts feeding machines are widely employed as the prologue of the whole procedure. They play the role of sorting the parts randomly placed in bins to the state with specified pose. With the help of the parts…

Essential tasks in autonomous driving includes environment perception, detection and tracking, path planning and action control. This paper focus on path planning, which is one of the challenging task as it needs to find optimal path in…

Humans often demonstrate diverse behaviors due to their personal preferences, for instance, related to their individual execution style or personal margin for safety. In this paper, we consider the problem of integrating both path and…

Trajectory planning in robotics is understood as generating a sequence of joint configurations that will lead a robotic agent, or its manipulator, from an initial state to the desired final state, thus completing a manipulation task while…

In this work, we present an approach to minimizing the time necessary for the end-effector of a redundant robot manipulator to traverse a Cartesian path by optimizing the trajectory of its joints. Each joint has limits in the ranges of…

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…

This paper presents evolutionary methods for optimization in dynamic mobile robot path planning. In dynamic mobile path planning, the goal is to find an optimal feasible path from starting point to target point with various obstacles, as…

Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…

Optimal path planning is prone to convergence to local, rather than global, optima. This is often the case for mobile manipulators due to nonconvexities induced by obstacles, robot kinematics and constraints. This paper focuses on planning…

Dormant season grapevine pruning requires skilled seasonal workers during the winter season which are becoming less available. As workers hasten to prune more vines in less time amid to the short-term seasonal hiring culture and low wages,…

This paper proposes a preliminary work on a Conditional Task and Motion Planning algorithm able to find a plan that minimizes robot efforts while solving assigned tasks. Unlike most of the existing approaches that replan a path only when it…

This paper proposes a redundancy resolution algorithm for a redundant manipulator based on dynamic programming. This algorithm can compute the desired joint angles at each point on a pre-planned discrete path in Cartesian space, while…