Configuration Spaces: To begin, let us consider the problem of planning the motion of a single agent among a collection of obstacles. Since the techniques that we will be discussing originated in the field of robotics, henceforth we will usually refer to a moving agent as a “robot”. The environment in which the agent operates is called its workspace, which consists of a collection of geometric ...

An overview of Mobile Robotic Agents’ Motion Planning (RMP) and Trajectory Planning Problem (TPP) in Dynamic Environment is presented. We have focused on the area of mobile robots, in an environment in which obstacles may change their location in space-time and henceforth it does not cover the same for environment comprising only non-moving, stationary obstacles. Comparative graphs and charts, ...

We study grouping of entities moving amidst obstacles, extending the recent work of Kostitsyna et al. [5]. We present an alternative algorithm that can compute the Reeb-graph, a graph which captures when and how the partition of the entities into groups changes, when the entities move amidst arbitrary polygonal obstacles. Our new algorithm is significantly faster than the algorithm of Kostitsyn...

Preventive maintenance of high-voltage transmission power lines is a dangerous task, but the obstacles mounted on the lines have so far prevented the automation of this task. Expliner aims to overcome such obstacles by controlling actively the position of its center of mass, thus changing its configuration as needed when moving on the power lines. This work presents the design of Expliner and r...

In the field of electronic engineering the work of automation is growing at speed of light. The fundamental concept of autonomous operation depends on technique and logic that we are using. The simple fundamental concept of operating autonomous robot or simply we can say that a mobile robot is a navigation of that robot. The navigation consists of providing the specific path to follow optimal d...

An efficient, simple, and practical real time path planning method for multiple mobile robots in dynamic environments is introduced. Harmonic potential functions are utilized along with the panel method known in fluid mechanics. First, a complement to the traditional panel method is introduced to generate a more effective harmonic potential field for obstacle avoidance in dynamically changing e...

Needle insertion is commonly performed in minimally invasive medical procedures such as biopsy and radiation cancer treatment. During such procedures, accurate needle tip placement is critical for correct diagnosis or successful treatment. Accurate placement of the needle tip inside tissue is challenging, especially when the target moves and anatomical obstacles must be avoided. We develop a ne...

In this paper, we propose a real-time moving target search algorithm for dynamic and partially observable environments, modeled as grid world. The proposed algorithm, Real-time Moving Target Evaluation Search (MTES), is able to detect the closed directions around the agent, and determine the best direction that avoids the nearby obstacles, leading to a moving target which is assumed to be escap...

Path planning is an important area in the control of autonomous mobile robots. Recent work has focused on aspects reductions in processing time than the memory requirements. A dynamic environment uses a lot of memory and hence the processing time increases too. Our approach is to reduce the processing time by the use of a pictorial approach to reduce the number of data used. In this paper, we p...