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A survey of learning‐based robot motion planning
IET Cyber-systems and Robotics, 2021 A fundamental task in robotics is to plan collision‐free motions among a set of obstacles. Recently, learning‐based motion‐planning methods have shown significant advantages in solving different planning problems in high‐dimensional spaces and complex ...
Jiankun Wang +6 more
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Comprehensive Ocean Information-Enabled AUV Motion Planning Based on Reinforcement Learning
Remote Sensing, 2023 Motion planning based on the reinforcement learning algorithms of the autonomous underwater vehicle (AUV) has shown great potential. Motion planning algorithms are primarily utilized for path planning and trajectory-tracking.
Yun Li +4 more
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, 2020 Maps of dynamics can be beneficial for motion planning. Information about motion patterns in the environment can lead to finding flow-aware paths, allowing robots to align better to the expected motion: either of other agents in the environment or the ...
Swaminathan, Chittaranjan Srinivas, +4 more
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Human-Robot Task and Motion Planning in an Industrial Application [PDF]
, 2023 In the evolving industrial landscape, Human-Robot Collaboration (HRC) has emerged as a significant technological challenge. Central to optimizing HRC's potential is the integration of Task and Motion Planning (TAMP) to maximise the benefits of robot ...
Alberto Gottardi +3 more
core
Motion Planning for Kinematic Systems [PDF]
IEEE Transactions on Automatic Control, 2013 In this paper, we present a general theory of motion planning for kinematic systems. This theory has been developed for long by one of the authors in a previous series of papers. It is mostly based upon concepts from subriemannian geometry. Here, we summarize the results of the theory, and we improve on, by developping in details an intricated case ...
Boizot, Nicolas, Gauthier, Jean-Paul
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Motion Planning of Legged Robots [PDF]
SIAM Journal on Computing, 2000 We study the problem of computing the free space F of a simple legged robot called the spider robot. The body of this robot is a single point and the legs are attached to the body. The robot is subject to two constraints: each leg has a maximal extension R (accessibility constraint) and the body of the robot must lie above the convex hull of its feet ...
Boissonnat, Jean-Daniel +2 more
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Kinodynamic Motion Planning [PDF]
IEEE Robotics & Automation Magazine, 2010 This article extends the capabilities of the harmonic potential field (HPF) approach to planning to cover both the kinematic and dynamic aspects of a robot's motion. The suggested approach converts the gradient guidance field from a harmonic potential to a control signal by augmenting it with a novel type of damping forces called nonlinear, anisotropic,
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Motion Planning for Multiple Robots [PDF]
Discrete & Computational Geometry, 1998 zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Boris Aronov +4 more
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3D Modeling, Distance and Gradient Computation for Motion Planning: A Direct GPGPU Approach
, 2013 The Kinect sensor and KinectFusion algorithm have revolutionized environment modeling. We bring these advances to optimization-based motion planning by computing the obstacle and self-collision avoidance objective functions and their gradients directly ...
Frese, Udo +5 more
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Drive the Drive: From Discrete Motion Plans to Smooth Drivable Trajectories
Robotics, 2014 Autonomous navigation in real-world industrial environments is a challenging task in many respects. One of the key open challenges is fast planning and execution of trajectories to reach arbitrary target positions and orientations with high accuracy and ...
Henrik Andreasson +4 more
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