相关论文: Collision Free Motion Planning on Graphs
We consider the problem of computing shortest paths in a dense motion-planning roadmap $\mathcal{G}$. We assume that~$n$, the number of vertices of $\mathcal{G}$, is very large. Thus, using any path-planning algorithm that directly searches…
Motion planning problems have been studied by both the robotics and the controls research communities for a long time, and many algorithms have been developed for their solution. Among them, incremental sampling-based motion planning…
The motion planning problem is a fundamental problem in robotics, so that every autonomous robot should be able to deal with it. A number of solutions have been proposed and a probabilistic one seems to be quite reasonable. However, here we…
Motion planning is a key tool that allows robots to navigate through an environment without collisions. The problem of robot motion planning has been studied in great detail over the last several decades, with researchers initially focusing…
The complexity of nearest-neighbor search dominates the asymptotic running time of many sampling-based motion-planning algorithms. However, collision detection is often considered to be the computational bottleneck in practice. Examining…
This is a chapter in the Encyclopedia of Robotics. It is devoted to the study of complexity of complete (or exact) algorithms for robot motion planning. The term ``complete'' indicates that an approach is guaranteed to find the correct…
In many robot motion planning problems, task objectives and physical constraints induce non-Euclidean geometry on the configuration space, yet many planners operate using Euclidean distances that ignore this structure. We address the…
In this paper, we present a novel approach to efficiently generate collision-free optimal trajectories for multiple non-holonomic mobile robots in obstacle-rich environments. Our approach first employs a graph-based multi-agent path planner…
Topological complexity $\TC{B}$ of a space $B$ is introduced by M. Farber to measure how much complex the space is, which is first considered on a configuration space of a motion planning of a robot arm. We also consider a stronger version…
Robotic manipulation in complex, constrained spaces is vital for widespread applications but challenging, particularly when navigating narrow passages with elongated objects. Existing planning methods often fail in these low-clearance…
Let X be a subcomplex of the standard CW-decomposition of the n-dimensional torus. We exhibit an explicit optimal motion planning algorithm for X. This construction is used to calculate the topological complexity of complements of general…
Traversing environments with arbitrary obstacles poses significant challenges for bipedal robots. In some cases, whole body motions may be necessary to maneuver around an obstacle, but most existing footstep planners can only select from a…
Characterizing the risk of operations is a fundamental requirement in robotics, and a crucial ingredient of safe planning. The problem is multifaceted, with multiple definitions arising in the vast recent literature fitting different…
An algorithm observes the trajectories of random walks over an unknown graph $G$, starting from the same vertex $x$, as well as the degrees along the trajectories. For all finite connected graphs, one can estimate the number of edges $m$ up…
This work establishes a solution to the problem of assessing the capacity of multi-object assemblies to withstand external forces without becoming unstable. Our physically-grounded approach handles arbitrary structures made from rigid…
Roadmaps constructed by many sampling-based motion planners coincide, in the absence of obstacles, with standard models of random geometric graphs (RGGs). Those models have been studied for several decades and by now a rich body of…
In this series of papers, we present a motion planning framework for planning comfortable and customizable motion of nonholonomic mobile robots such as intelligent wheelchairs and autonomous cars. In this first one we present the…
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…
The main objective of this paper is to introduce a new method for qualitative analysis of various designs of robot arms. To this end we define the complexity of a map, examine its main properties and develop some methods of computation. In…
Autonomous motion of a system (robot) is controlled by a motion planning algorithm. A sequential parametrized motion planning algorithm \cite{FP22} works under variable external conditions and generates continuous motions of the system to…