Combinatorial Motion Planning

Combinatorial Motion Planning Algorithms for a Heterogeneous Collection of Unmanned Vehicles

Motion Planning for a Self-Reconfigurable Modular Robot

This paper addresses motion planning of a homogeneous modular robotic system. The modules have self-reconfiguration capability so that a group of the modules can construct a robotic structure generating dynamic motion. Motion planning for self-reconfiguration is not straightforward because the modular structure allows many combinatorial configurations, and also the proposed module has only two ...

A motion planning method for a self-reconfigurable modular robot

This paper addresses motion planning of a homogeneous modular robotic system. The modules have selfreconfiguration capability so that a group of the modules can construct a robotic structure. Motion planning for selfreconfiguration is a kind of computationally difficult problem because of many combinatorial possibilities of modular configuration and the restricted degrees of freedom of the modu...

A Combinatorial Approach to Planar Non-colliding Robot Arm Motion Planning

We propose a combinatorial approach to plan noncolliding motions for a polygonal bar-and-joint framework. Our approach yields very eÆcient deterministic algorithms for a category of robot arm motion planning problems with many degrees of freedom, where the known general roadmap techniques would give exponential complexity. It is based on a novel class of one-degree-of-freedom mechanisms induced...

Robot Motion Planning and the Single Cell

Robot motion planning has become a central topic in robotics and has been studied using a variety of techniques. One approach, followed mainly in computational geometry, aims to develop combinatorial, non-heuristic solutions to motion-planning problems. This direction is strongly related to the study of arrangements of algebraic curves and surfaces in low-dimensional Euclidean space. More speci...