Models and motion planning

Models and Motion Planning

We study the complexity of the motion planning problem for a bounded-reach robot in the situation where the n obstacles in its workspace satisfy two of the realistic models proposed in the literature, namely unclutteredness and small simple-cover complexity. We show that the maximum complexity of the free space of a robot with f degrees of freedom in the plane is Θ(n + n) for uncluttered enviro...

Kinodynamic Motion Planning with Viability Models

Learning symbolic forward models for robotic motion planning and control

Physiological studies suggest that humans have internal dynamics models for both themselves as well as their environment, which are integral components in motion planning and control. Although robotic systems rely on similar models, a primary constraint for robotic applications is how such models are acquired and developed. Traditionally human engineers derive the dynamics models for robots; th...

Motion Economy and Planning

We have formulated the motion economy problem as an AI planning problem. We have developed and formalized a model for representing the actions, environment and products of the domain. We have interpreted and represented the expertise of motion economy specialists as search control rules by using temporal formulas and used them to generate quality plans.

Motion Planning and Commands