A survey of learning‐based robot motion planning

Robot Motion Planning a Survey

This report surveys work on geometry of motion planning for robotic manipulators, and gives a non-technical introduction to some of my recent work in this eld. This is an active eld of research in which there are a number of outstanding open problems and areas worthy of exploration. The report closes by describing work which I am hoping to carry out in the near future. 1 Review of existing work...

Mobile Robot Online Motion Planning Using Generalized Voronoi Graphs

In this paper, a new online robot motion planner is developed for systematically exploring unknown environ¬ments by intelligent mobile robots in real-time applications. The algorithm takes advantage of sensory data to find an obstacle-free start-to-goal path. It does so by online calculation of the Generalized Voronoi Graph (GVG) of the free space, and utilizing a combination of depth-first an...

Robot Motion Planning

Robot Motion Planning

Multi-Robot Motion Planning

We present a simple and natural extension of the multi-robot motion planning problem where the robots are partitioned into groups (colors), such that in each group the robots are interchangeable. Every robot is no longer required to move to a specific target, but rather to some target placement that is assigned to its group. We call this problem k-color multi-robot motion planning and provide a...