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2019 American Control Conference (ACC), 2019
In this paper, we introduce the problem of motion planning with secrecy guarantees. A robot is tracking a desired trajectory, which is transmitted on-line by a planner, e.g. a base station or a mobile station. The communication between the robot and the planner is organized in packets and takes place over a wireless channel, which is susceptible to ...
Anastasios Tsiamis +2 more
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In this paper, we introduce the problem of motion planning with secrecy guarantees. A robot is tracking a desired trajectory, which is transmitted on-line by a planner, e.g. a base station or a mobile station. The communication between the robot and the planner is organized in packets and takes place over a wireless channel, which is susceptible to ...
Anastasios Tsiamis +2 more
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Motion planning in urban environments
Journal of Field Robotics, 2008AbstractWe present the motion planning framework for an autonomous vehicle navigating through urban environments. Such environments present a number of motion planning challenges, including ultrareliability, high‐speed operation, complex intervehicle interaction, parking in large unstructured lots, and constrained maneuvers.
Dave Ferguson 0001 +2 more
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Motion planning of a UAV using a kinodynamic motion planning method
IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society, 2013In this research, we extend the kinodynamic motion planning using “nonlinear anisotropic damping forces (NADFs),” which had been applied to a point mass in the previous research, to the motion planning of “unmanned arerial vehicles (UAVs)”. In the proposed system, we realize the autonomous locomotion for AUVs by combining the nonholonomic control ...
Kimiko Motonaka +2 more
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Information Systems, 2017
Motion planning is a central problem for robotics. The PRM algorithm is, together with the asymptotically optimal variant PRM*, the standard method to maintain a (collision-free) roadmap in the configuration space. The PRM algorithm is randomized, and requires a large number of high-dimensional point samples generated online, hence a sub-problem to ...
Angello Hoyos +3 more
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Motion planning is a central problem for robotics. The PRM algorithm is, together with the asymptotically optimal variant PRM*, the standard method to maintain a (collision-free) roadmap in the configuration space. The PRM algorithm is randomized, and requires a large number of high-dimensional point samples generated online, hence a sub-problem to ...
Angello Hoyos +3 more
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2005
Many motion planning, artificial intelligence, and mobile robot planning techniques exploit topology, as encoded in the free space, to aid in generating concise maps and efficient planners. Prior work of the authors has used the generalized Voronoi diagram, which is a topological map that has a natural embedding into the free space.
Howie Choset, Alfred A. Rizzi
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Many motion planning, artificial intelligence, and mobile robot planning techniques exploit topology, as encoded in the free space, to aid in generating concise maps and efficient planners. Prior work of the authors has used the generalized Voronoi diagram, which is a topological map that has a natural embedding into the free space.
Howie Choset, Alfred A. Rizzi
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Integrated Grasp and motion planning
2010 IEEE International Conference on Robotics and Automation, 2010In this work, we present an integrated planner for collision-free single and dual arm grasping motions. The proposed Grasp-RRT planner combines the three main tasks needed for grasping an object: finding a feasible grasp, solving the inverse kinematics and searching a collision-free trajectory that brings the hand to the grasping pose.
Nikolaus Vahrenkamp +3 more
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Speed Planning for a Maneuvering Motion
Journal of Intelligent and Robotic Systems, 2002zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Kao-Shing Hwang, Ming-Yi Ju
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Motion planning in stereotaxic radiosurgery
[1993] Proceedings IEEE International Conference on Robotics and Automation, 1993Stereotaxic radiosurgery is a procedure that uses a beam of radiation as an ablative surgical instrument to destroy brain tumors (or more generally, brain lesions). The beam is produced by a linear accelerator that is moved by a mechanical gantry. Radiation is concentrated by crossfiring at the tumor from multiple directions, to reduce the amount of ...
Achim Schweikard +2 more
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2018
Mobile robots are increasingly being deployed in the real world in response to a heightened demand for applications such as transportation, delivery and inspection. The motion planning systems for these robots are expected to have consistent performance across the wide range of scenarios that they encounter.
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Mobile robots are increasingly being deployed in the real world in response to a heightened demand for applications such as transportation, delivery and inspection. The motion planning systems for these robots are expected to have consistent performance across the wide range of scenarios that they encounter.
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Motion planning for the Virtual Bronchoscopy
2012 IEEE International Conference on Robotics and Automation, 2012Bronchoscopy is an interventional medical procedure employed to analyze the interior side of the human airways, clear possible obstructions and biopsy. Using a 3D reconstruction of the tracheobronchial tree, Virtual Bronchoscopy (VB) may help physicians in the exploration of peripheral lung lesions.
Jan Rosell +3 more
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