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ASYMPTOTICALLY OPTIMAL KINODYNAMIC MOTION PLANNING FOR A CLASS OF MODULAR SELF-RECONFIGURABLE ROBOTS

JOHN REIF, SAM SLEE
2011 International journal of computational geometry and applications  
Communicated by (Name) Self-reconfigurable robots are composed of many individual modules that can autonomously move to transform the shape and structure of the robot.  ...  We characterize optimal reconfiguration movements in terms of basic laws of physics relating force, mass, acceleration, distance traveled, and movement time.  ...  Kinodynamic planning refers to motion planning problems subject to simultaneous kinematic and dynamics constraints. 1 To that end, in this paper we define an abstract model for modules in SR robots.  ... 
doi:10.1142/s0218195911003585 fatcat:grh7uioj3jgxxaollc3rsrqiiu

Asymptotically Optimal Kinodynamic Motion Planning for Self-reconfigurable Robots [chapter]

John H. Reif, Sam Slee
Springer Tracts in Advanced Robotics  
In this paper we present a kinodynamically optimal algorithm for the following "x-axis to y-axis" reconfiguration problem: given a horizontal row of n modules, reconfigure that collection into a vertical  ...  Self-reconfigurable robots are composed of many individual modules that can autonomously move to transform the shape and structure of the robot.  ...  motion planning for these robots.  ... 
doi:10.1007/978-3-540-68405-3_29 fatcat:qu2sdeu5obhatenyiirivgl3lm

A Survey of Asymptotically Optimal Sampling-based Motion Planning Methods [article]

Jonathan D. Gammell, Marlin P. Strub
2020 arXiv   pre-print
Motion planning is a fundamental problem in autonomous robotics. It requires finding a path to a specified goal that avoids obstacles and obeys a robot's limitations and constraints.  ...  It is often desirable for this path to also optimize a cost function, such as path length.  ...  Kinodynamic RRT*: Asymptotically optimal motion planning for robots with linear dynamics.  ... 
arXiv:2009.10484v1 fatcat:idhjoeu3snhljmmhvhodqd4cca

Optimal Kinodynamic Motion Planning for 2D Reconfiguration of Self-Reconfigurable Robots

J. Reif, S. Slee
2007 Robotics: Science and Systems III  
We present a kinodynamically optimal algorithm for general reconfiguration between any two distinct, 2D connected configurations of n SR robot modules.  ...  A self-reconfigurable (SR) robot is one composed of many small modules that autonomously act to change the shape and structure of the robot.  ...  INTRODUCTION The dynamic nature of self-reconfigurable robots makes them ideally suited for numerous environments with challenging terrain or unknown surroundings.  ... 
doi:10.15607/rss.2007.iii.020 dblp:conf/rss/ReifS07 fatcat:qcczftyzrjfgnl6s5t4pn3fgdy

2021 Index IEEE Robotics and Automation Letters Vol. 6

2021 IEEE Robotics and Automation Letters  
The Author Index contains the primary entry for each item, listed under the first author's name.  ...  ., +, LRA April 2021 382-388 MPC-MPNet: Model-Predictive Motion Planning Networks for Fast, Near-Optimal Planning Under Kinodynamic Constraints.  ...  ., +, LRA July 2021 5589-5596 Biomechanical Motion Planning for a Wearable Robotic Forearm.  ... 
doi:10.1109/lra.2021.3119726 fatcat:lsnerdofvveqhlv7xx7gati2xu

2021 Index IEEE/ASME Transactions on Mechatronics Vol. 26

2021 IEEE/ASME transactions on mechatronics  
The Author Index contains the primary entry for each item, listed under the first author's name.  ...  ., +, TMECH Oct. 2021 2604-2615 Optimal control Efficient Motion Planning Based on Kinodynamic Model for Quadruped Robots Following Persons in Confined Spaces.  ...  Self-Reconfigurable Robot.  ... 
doi:10.1109/tmech.2022.3141226 fatcat:xzamfdzhofblrdegiw7iqkjffq

A Comprehensive Review of Coverage Path Planning in Robotics Using Classical and Heuristic Algorithms

Chee Sheng Tan, Rosmiwati Mohd-Mokhtar, Mohd Rizal Arshad
2021 IEEE Access  
The small battery capacities of the mobile robot and the un-optimized planning efficiency of the industrial robot bottlenecked the time efficiency and productivity rate of coverage tasks in terms of speed  ...  Thus, it became highly desirable to address the optimization problems related to exploration and coverage path planning (CPP).  ...  However, the model is only best suited for a self-reconfigurable robot in a 2D workspace, otherwise, it could significantly increase the number of turns, leading to a costly path in the conventional robot  ... 
doi:10.1109/access.2021.3108177 fatcat:ddkiiuc2znfwhc6z3xqbk5oo7y

2019 Index IEEE Robotics and Automation Letters Vol. 4

2019 IEEE Robotics and Automation Letters  
., +, LRA Oct. 2019 3924-3931 RL-RRT: Kinodynamic Motion Planning via Learning Reachability Estimators From RL Policies.  ...  Nisar, B., +, LRA July 2019 2785-2792 Distributed control A Distributed Reconfiguration Planning Algorithm for Modular Robots.  ...  Permanent magnets Adaptive Dynamic Control for Magnetically Actuated Medical Robots.  ... 
doi:10.1109/lra.2019.2955867 fatcat:ckastwefh5chhamsravandtnx4

Systematic Literature Review of Sampling Process in Rapidly-exploring Random Trees

Luiz Gustavo Veras, Felipe Medeiros, Lamartine Guimaraes
2019 IEEE Access  
Path planning is one of the most important process on applications such as navigating autonomous vehicles, computer graphics, game development, robotics, and protein folding.  ...  One of the most wide algorithms used for this purpose is the rapidly-exploring random tree (RRT), in which each node of a tree data structure is generated from a search space by a random sampling process  ...  has asymptotic optimality.  ... 
doi:10.1109/access.2019.2908100 fatcat:n4nxxpquurcmlaeayjrnmlcxru

Sampling-based A* algorithm for robot path-planning

Sven Mikael Persson, Inna Sharf
2014 The international journal of robotics research  
This paper presents a generalization of the classic A* algorithm to the domain of sampling-based motion-planning.  ...  Many improvements are presented to this versatile method, most notably, an optimal connection strategy, a bias towards the goal region via an Anytime A* heuristic, and balancing of exploration and exploitation  ...  The authors would like to thank the reviewers of this article for providing very constructive feedback and for upholding the high standards of rigor required for productive scientific discourse.  ... 
doi:10.1177/0278364914547786 fatcat:3mfufmx64vfwzaydu3objkzwn4

Formation Control and Obstacle Avoidance for Multiple Robots Subject to Wheel-Slip

Cai Ze-Su, Zhao Jie, Cao Jian
2012 International Journal of Advanced Robotic Systems  
is used to solve multi-targets optimal assignment for the formation problem.  ...  In order to improve the formation control method effectively and reduce the distortion shape, the virtual leader-following method is proposed for every robot and an improved optimal assignment algorithm  ...  a close formation; (c) the self-reconfiguring of metamorphic robotic systems; (d) controlling the formation of satellites for scientific and planetary exploration; and (e) autonomous vehicle highway systems  ... 
doi:10.5772/52768 fatcat:lbmkirdwezebhog6abefumnw2a

2021 International Conference on Unmanned Aircraft Systems - Final program

2021 2021 International Conference on Unmanned Aircraft Systems (ICUAS)  
However, the COVID-19 challenge does not allow for the level of flexibility we had hoped for. In any case, I strongly believe that the conference will meet and exceed your expectations.  ...  Athens is a magnificent location for such an international event like the 2021 ICUAS.  ...  planning.  ... 
doi:10.1109/icuas51884.2021.9476682 fatcat:crdrcczqlbaebncnd76b47hfsu

2021 Index IEEE Transactions on Industrial Electronics Vol. 68

2021 IEEE transactions on industrial electronics (1982. Print)  
The Author Index contains the primary entry for each item, listed under the first author's name.  ...  ., +, TIE Dec. 2021 11794-11805 Informed Anytime Fast Marching Tree for Asymptotically Optimal Motion Planning.  ...  Gao, X., +, TIE Nov. 2021 10378-10387 Collision avoidance An Efficient RRT-Based Framework for Planning Short and Smooth Wheeled Robot Motion Under Kinodynamic Constraints.  ... 
doi:10.1109/tie.2021.3130363 fatcat:5ahkwd5l4fgnvcveiyso6oc6vy

Final Program

2020 2020 International Conference on Unmanned Aircraft Systems (ICUAS)  
As such, and if the after the COVID-19 'new normal' will allow, from 2021 onwards, the plan is to organize the conference in Europe, again, Canada, South America, South East Asia, and in the United States  ...  We thank all of them for their extremely valuable contributions and dedication. Dr.  ...  A target-oriented 3D path planning algorithm, directly using point clouds to compute optimized trajectories for a UAV, is presented in this article.  ... 
doi:10.1109/icuas48674.2020.9214039 fatcat:7jr6chhfija47kgtwoxqmfmmoe

On information invariants in robotics

Bruce Randall Donald
1995 Artificial Intelligence  
We discuss several measures for the information complexity of a task: (a) How much internal state should the robot retain?  ...  Donuld/Artificiul Inrelhgence 72 (1995) 217-304 ' So, p* is the time-resealed trajectory from ,j 1 I9 I. ') For an explicit use of this constant in an actual servo loop, see, for example, [ 44 ] 230 B.R  ...  The robots and experimental devices described herein were built in our lab by Jim Jennings, Russell Brown, Jonathan Rees, Craig Becker, Mark Battisti, Kevin Newman, Dave Manzanares, and Greg Whelan; these  ... 
doi:10.1016/0004-3702(94)00024-u fatcat:iw4ftgcz3vfnfdtu4tcen5tbwe
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