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When possible, non-prehensile transportation (i.e. transporting objects without grasping them) can be faster and more efficient than prehensile transportation. However, the need to explicitly consider reaction and friction forces yields kino-dynamic constraints that are difficult to take into account by traditional planning algorithms. Based on the recently developed Admissible Velocity Propagation...
Collision free navigation in dynamic environments, where motion of moving obstacles is unknown, still presents a significant challenge. Sampling based algorithms are well known for their simplicity and are widely used in many real time motion planning problems. While many sampling based algorithms for dynamic environments exist, assumptions taken by these algorithms such as known trajectories of moving...
We propose a scheme to deal simultaneously with local motion planning and dynamic control of redundant cooperative robots subject to holonomic, posture and loop-closure constraints. In contrast to previous contributions, an iterative method, that glue together the problem of kinematic motion planning with dynamic control, generates the sequence of feasible collision-free motions by combining in a...
A novel progressive genetic algorithm is developed for motion planning of a three-limbed robot. The proposed motion planning method can be used to find a optimal joints trajectory from the initial to the final position and orientation. On the basis of the genetic algorithm a kind of variable structure genetic algorithm is proposed to solve the problem of motion planning of the three-limbed in dynamic...
A novel progressive genetic algorithm was developed for motion planning of a three-limbed robot. The proposed motion planning method can be used to find a optimal joints trajectory from the initial to the final position and orientation. On the basis of the genetic algorithm a kind of variable structure genetic algorithm was proposed to solve the problem of motion planning of the three-limbed in dynamic...
Interestingly in different situations, human not only plans differently for approaching, accompanying, passing by and avoiding another person, but also smoothly maintains an appropriate distance. But for a mobile robot it is not trivial at all, while also maintaining its goal. In this paper we present a generic framework of mobile robot path planning for adapting social rules at different states of...
This paper provides a detailed analysis of the motion planning subsystem for the MIT DARPA Urban Challenge vehicle. The approach is based on the Rapidly-exploring Random Trees (RRT) algorithm. The purpose of this paper is to present the numerous extensions made to the standard RRT algorithm that enable the on-line use of RRT on robotic vehicles with complex, unstable dynamics and significant drift,...
Mobile robot navigation is one of the important domains in mobile robot technologiespsila research. This problem is divided into two categories of basic sub-problems: path planning and motion planning. In this paper we integrate the path planning and motion planning of a robot into a uniform framework, which is described by a hybrid system. Hybrid systems combine discrete and continuous behavior so...
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