Interactive Multi-Modal Motion Planning With Branch Model Predictive Control

Passivity-Based Model Predictive Control for Mobile Vehicle Motion Planning

Follow up what we will offer in this article about passivity based model predictive control for mobile vehicle motion planning. You know really that this book is coming as the best seller book today. So, when you are really a good reader or you're fans of the author, it does will be funny if you don't have this book. It means that you have to get this book. For you who are starting to learn abo...

Multi-modal Motion Planning in Non-expansive Spaces

The motion planning problems encountered in manipulation and legged locomotion have a distinctive multi-modal structure, where the space of feasible configurations consists of overlapping submanifolds of non-uniform dimensionality. These spaces do not possess expansiveness, a property that characterizes whether planning queries can be solved with traditional sample-based planners. We present a ...

Multi-modal Motion Planning for a Humanoid Robot Manipulation Task

This paper presents a motion planner that enables a humanoid robot to push an object on a flat surface. The robot’s motion is divided into distinct walking, reaching, and pushing modes. A discrete change of mode can be achieved with a continuous single-mode motion that satisfies mode-specific constraints (e.g. dynamics, kinematic limits, avoid obstacles). Existing techniques can plan well in si...

Multi-Modal Control: From Motion Description Languages to Optimal Control

Multi-Modal Route Planning

We examine the computation of optimal paths, which consist of using public transportation, walking and taking a car. A challenge in itself is to determine concise and diverse sets of paths. We consider metropolises like New York, where a fast computation of the paths is difficult. We exemplify that multiple optimality criteria are necessary to obtain diverse sets of paths. This extends the set ...