Benchmarking and optimization of robot motion planning with motion planning pipeline

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 with uncertainty

This thesis concerns robot motion planning with uncertainty in control and sensing. The problem can be formulated, with some approximations, as path-planning in the extended space of poses × covariances. The reduction of uncertainty due to data acquired by exteroceptive sensors is modelled with the use of Fisher’s information matrix. Many optimization problems can be defined in this framework; ...

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...