We present motion planning for dexterous manipulation by whole arm grasp system based on switching contact modes. Motion planning for such a system should consider changing dynamics and kinematics according to the contact modes. We systematize the properties of the manipulation system by taking account of contact dynamics and kinematics, and derive the conditions to be satisfied in motion plann...

Automatic lane-changing is a complex and critical task for autonomous vehicle control. Existing researches on technology mainly focus avoiding obstacles; however, few studies have accounted dynamic lane changing based some certain assumptions, such as the speed constant or terminal state known in advance. In this study, typical scenario developed with consideration of preceding lagging vehicles...

Abstract. In this paper, the minimum time feedrate trajectory planning problem for five-axis computer numerical control (CNC) machining is studied. A more accurate model for the feedrate trajectory planning problem is proposed by constraining the velocity, acceleration, and jerk for all five axes in the joint space and constraining the chord error in the workpiece coordinate system. For the new...

We present an approach for approximately solving discrete-time stochastic optimal-control problems by combining direct trajectory optimization, deterministic sampling, and policy optimization. Our feedback motion-planning algorithm uses a quasi-Newton method to simultaneously optimize reference trajectory, set of deterministically chosen sample trajectories, parameterized policy. demonstrate th...

Keywords: Car-like robot Trajectory planning Time-optimal control Simultaneous dynamic optimization Interior-point method Computational guidance and control a b s t r a c t Trajectory planning in robotics refers to the process of finding a motion law that enables a robot to reach its terminal configuration, with some predefined requirements considered at the same time. This study focuses on pla...

Trajectory planning for robots is a very important issue in those industrial activities which have been automated. The introduction of robots into industry seeks to upgrade not only the standards of quality but also productivity as the working time is increased and the useless or wasted time is reduced. Therefore, trajectory planning has an important role to play in achieving these objectives (...

We introduce the notion of kinematic controllability for second-order underactuated mechanical systems. For systems satisfying this property, the problem of planning fast collision-free trajectories between zero velocity states can be decoupled into the computationally simpler problems of path planning for a kinematic system followed by timeoptimal time scaling. While this approach is well know...

In this paper we present algorithms for planning the motion of robotic Molecules on a substrate of other Molecules. Our approach is to divide selfreconfiguration planning into three levels: trajectory planning, configuration planning, and task-level planning. This paper focuses on algorithms for trajectory planning, moving a single Molecule from a start location to a goal location, and configur...