In a multi-robot system, the outcome depends significantly on how well the motion of individual robots are coordinated. The research challenge lies in formulating computational paradigms and strategies that allow a realtime search for optimal coordinated motions of individual robots under excessive search complexity. In this paper, the concept of the “mappeable zone” is proposed which represent...

| this paper presents the rst path planner taking into account both non-holonomic and uncertainty constraints. The case of a car-like robot subject to cumulative and unbounded connguration uncertainty related to bounded control and sensing errors is considered. Assuming the existence of landmarks allowing the robot to relocalize itself in particular places, we present an algorithm that computes...

Exact cellular decompositions represent a robot’s free space by dividing it into regions with simple structure such that the sum of the regions fills the free space. These decompositions have been widely used for path planning between two points, but can be used for mapping and coverage of free spaces. In this paper, we define exact cellular decompositions where critical points of Morse functio...

A tractor-trailer robot consists of a carlike tractor towing a passive trailer. Due to its highly nonholonomic nature, the kinematics of this type of robot are complicated and di cult to compute. We present exact closed-form solutions for the kinematic parameters of a tractortrailer robot and use them to construct an exact and e cient motion planner in the absence of obstacles. This local plann...

This paper describes a real experiment in nonholonomic motion planning and control. It was performed on the mobile robot Hilare-2-bis pulling a trailer.

We present a simple algorithm for complete motion planning using deterministic sampling. Our approach relies on computing a star-shaped roadmap of the free space. We partition the free space into star-shaped regions such that a single point called the guard can see every point in the starshaped region. The resulting set of guards capture the intraregion connectivity. We capture the inter-region...

This paper addresses t h e m o t i o n planning problem for a robot and a movable object amidst polygonal obstacles. M o t i o n planning in this context appears as a constrained instance of t h e coordinated m o t i o n planning problem for t w o robots. Indeed, the object cannot move by itself, at only does when the robot grasps at. W e f irs t show a topological property tha t characterizes ...

In this paper, we consider an optimal motion planning problem for a pair of point robots in a planar environment with polygonal obstacles. We seek a pair of paths upon which the robots can travel to move from their initial positions to positions in which they are able to communicate. In order to communicate, the robots need to be visible to one another. We give e cient algorithms for minimizing...