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 novel approach to perform motion planning on 2 or 3 degrees-of-freedom manipulators utilising a fluid motion planning model is proposed. It is demonstrated that through the introduction of transformations, the conventional trajectory planning problem in the configuration space (C-space) can be efficiently solved from the closed form solution of the fluid motion planner. The proposed motion pl...

Human motion capture is a promising technique for the generation of humanoid robot motions. To convert human motion into humanoid robot motion, we need to relate the humanoid robot kinematics to the kinematics of a human performer. In this paper we propose an automatic approach for scaling of humanoid robot kinematic parameters to the kinematic parameters of a human performer. The kinematic mod...

This paper presents some of the recent improvements in sampling-based robot motion planning. Emphasis is placed on work that brings motion-planning algorithms closer to applicability in real environments. Methods that approach increasingly difficult motion planning problems including kinodynamic motion planning and dynamic environments are discussed. The ultimate goal for such methods is to gen...

This work makes two contributions to geometric motion planning for multiple robots: 1) motion plans are computed that simultaneously optimize an independent performance measure for each robot; 2) a general spectrum is defined between decoupled and centralized planning, in which we introduce coordination along independent roadmaps. By considering independent performance measures, we introduce a ...

This paper develops a planner to find an optimal assembly sequence to assemble several objects. The input to the planner is the mesh models of the objects, the relative poses between the objects in the assembly, and the final pose of the assembly. The output is an optimal assembly sequence, namely (1) in which order should one assemble the objects, (2) from which directions should the objects b...

Motion planning has been used to solve problems of high complexity in both robotic and biological domains. In robotics, the topology of the planning environment often drives the problem’s complexity. Environments can consist of many different regions each of which may be well suited to a specific planning approach. In biological domains, problem complexity is primarily driven by the size of the...

As robots venture into new application domains as autonomous vehicles on the road or as domestic helpers at home, they must recognize human intentions and behaviors in order to operate effectively. This paper investigates a new class of motion planning problems with uncertainty in human intention. We propose a method for constructing a practical model by assuming a finite set of unknown intenti...

Motion planning is the problem of finding a valid path for a robot from a start to goal configuration. In addition to robotics, it has applications to other fields in computer science such as CAD software, autonomous vehicles, and artificial intelligence. Motion planning in robotics is difficult because of the large number of variables needed to account for a robots shape, size, dynamic environ...