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Modular robots consist numerous interconnected and often identical components called modules, through which flexibility and versatility are attained in their consigned tasks. This paper focuses on the locomotion of modular robots comprised of Atron modules, and proposes a new algorithm based on meta-module formation and planning in order to accomplish cluster-flow-type locomotion. Through an iterative...
This paper presents a method for planning near-optimal collision-free path between two pre-specified points with given orientations for nonholonomic flying robots or UAVs navigating in a 3D space amid obstacles. The proposed method is based on the Fast Marching Method (FMM), which uses a first order numerical approximation of the Eikonal equation. The FMM is combined with average filter, B-spline...
In this paper, the multi robot motion planning problem is solved through a decoupled approach, where a new algorithm for prioritizing the robots moves is developed. Assuming that the workspace is mapped into a tree graph and the initial and final configurations of robots are known, the robots' shortest start-to-goal paths on the tree are calculated independently. Then, a new rule-based prioritization...
In this paper a novel method is presented for robot motion planning with respect to two objectives, the shortest and smoothest path criteria. A Particle Swarm Optimization (PSO) algorithm is employed for global path planning, while the Probabilistic Roadmap method (PRM) is used for obstacle avoidance (local planning). The two objective functions are incorporated in the PSO equations in which the path...
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