相关论文: Towards Geometric Motion Planning for High-Dimensi…

This paper reports a novel result: with proper robot models on matrix Lie groups, one can formulate the kinodynamic motion planning problem for rigid body systems as \emph{exact} polynomial optimization problems that can be relaxed as…

We propose an algorithmic framework for efficient anytime motion planning on large dense geometric roadmaps, in domains where collision checks and therefore edge evaluations are computationally expensive. A large dense roadmap (graph) can…

Learning motion planners to move robot from one point to another within an obstacle-occupied space in a collision-free manner requires either an extensive amount of data or high-quality demonstrations. This requirement is caused by the fact…

We present a hierarchical skeleton-guided motion planning algorithm to guide mobile robots. A good skeleton maps the connectivity of the subspace of c-space containing significant degrees of freedom and is able to guide the planner to find…

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…

Legged robot research is presently focused on bipedal or quadrupedal robots, despite capabilities to build robots with many more legs to potentially improve locomotion performance. This imbalance is not necessarily due to hardware…

Simplified models are useful to increase the computational efficiency of a motion planning algorithm, but their lack of accuracy have to be managed. We propose two feasibility constraints to be included in a Single Rigid Body Dynamicsbased…

Robotic adaptation to unanticipated operating conditions is crucial to achieving persistence and robustness in complex real world settings. For a wide range of cutting-edge robotic systems, such as micro- and nano-scale robots, soft robots,…

Motion planning is an essential aspect of autonomous systems and robotics and is an active area of research. A recently-proposed sampling-based motion planning algorithm, termed 'Generalized Shape Expansion' (GSE), has been shown to possess…

Optimization-based methods are commonly applied in autonomous driving trajectory planners, which transform the continuous-time trajectory planning problem into a finite nonlinear program with constraints imposed at finite collocation…

Planning the motion for humanoid robots is a computationally-complex task due to the high dimensionality of the system. Thus, a common approach is to first plan in the low-dimensional space induced by the robot's feet---a task referred to…

We introduce an algorithm which can be directly used to feasible and optimum search in linear programming. Starting from an initial point the algorithm iteratively moves a point in a direction to resolve the violated constraints. At the…

The objective function used in trajectory optimization is often non-convex and can have an infinite set of local optima. In such cases, there are diverse solutions to perform a given task. Although there are a few methods to find multiple…

In [Heimann, Lehrenfeld, Preu{\ss}, SIAM J. Sci. Comp. 45(2), 2023, B139 - B165] new geometrically unfitted space-time Finite Element methods for partial differential equations posed on moving domains of higher-order accuracy in space and…

This paper presents a multiscale approach to efficiently compute approximate optimal transport plans between point sets. It is particularly well-suited for point sets that are in high-dimensions, but are close to being intrinsically…

A high redundant non-holonomic humanoid mobile dual-arm manipulator system is presented in this paper where the motion planning to realize "human-like" autonomous navigation and manipulation tasks is studied. Firstly, an improved MaxiMin…

Miniature-legged robots are constrained by their onboard computation and control, thus motivating the need for simple, first-principles-based geometric models that connect \emph{periodic actuation or gaits} (a universal robot control…

Serially connected robots are promising candidates for performing tasks in confined spaces such as search-and-rescue in large-scale disasters. Such robots are typically limbless, and we hypothesize that the addition of limbs could improve…

We present a homotopic approach to solving challenging, optimization-based motion planning problems. The approach uses Homotopy Optimization, which, unlike standard continuation methods for solving homotopy problems, solves a sequence of…

A new approach for trajectory optimization of musculoskeletal dynamic models is introduced. The model combines rigid body and muscle dynamics described with a Hill-type model driven by neural control inputs. The objective is to find input…