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ASYMPTOTICALLY OPTIMAL KINODYNAMIC MOTION PLANNING FOR A CLASS OF MODULAR SELF-RECONFIGURABLE ROBOTS
2011
International journal of computational geometry and applications
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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]
Springer Tracts in Advanced Robotics
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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]
2020
arXiv
pre-print
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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
2007
Robotics: Science and Systems III
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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
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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
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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
2021
IEEE Access
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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
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., +, 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
2019
IEEE Access
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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
2014
The international journal of robotics research
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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
2012
International Journal of Advanced Robotic Systems
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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)
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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)
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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)
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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
1995
Artificial Intelligence
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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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