Toward Autonomous Robots: Robust, Adaptive and Dynamic Motion

We were engaged in research in various areas of robotic movement planning. The movement planning problems investigated were static movement problems (where the obstacles do not move), minimum distance path planning, compliant motion control (which involves planning without complete knowledge of the position of the robot) and related frictional movement problems, motion planning with independently moving obstacles, and kinodynamic movement planning (where the dynamics are taken into account including driving forces and torque), motion planning within potential elds such as gravitational force potential elds and magnetic elds and pursuit movement games (which involve movement control planning with an adversary). Most of our e orts were involved in the latter problems which have been investigated less. This paper will present some of our lates results on these various problems. Also this paper will include some improved algorithms we developed for the fundamental algebraic and combinatorial problems (such as root nding) which appear frequently as subproblems in these robot movement planning problems.