Water Sink Model for Robot Motion Planning

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...

Planning Robot Motion Strategies for Efficient Model Construction

This paper considers the computation of motion strategies to efficiently build polygonal layouts of indoor environments using a mobile robot equipped with a range sensor. This problem requires repeatedly answering the following question while the model is being built: Where should the robot go to perform the next sensing operation? A next-best-view planner is proposed which selects the robot’s ...

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...