State trajectory and plan preference constraints are the two language features introduced in PDDL3 (Gerevini & Long 2005) for describing benchmarks of the 5 international planning competition. State trajectory constraints provide an important step of the agreed fragment of PDDL towards the description of temporal control knowledge (Bacchus & Kabanza 2000) and temporally extended goals (DeGiacom...

This research addresses the path planning problem with a nonlinear optimization method running in real time. An optimization problem is continually solved to find a time-optimal, dynamically feasible trajectory from the vehicle’s position to some receding horizon ahead (20m-70m forward). The locally optimal numerical solver optimizes both the spatial and temporal components of the trajectory si...

In this paper, we present a method for the problem of the optimal trajectory planning of redundant robot manipulators in the presence of fixed obstacles. Quadrinomial and quintic polynomials are used to describe the segment of the trajectory. Cultural based PSO (CBPSO) algorithm is proposed to design a collision-free trajectory for planar redundant manipulators. Kinematics redundancy is integra...

This report considers trajectory planning with given design constraints and design of an appropriate feedforward controller for single axis motion control. A motivation is given for using fourth order feedfonvard with fourth order trajectories. An algorithm is given for calculating hqjher order trajectories with bounds on all considered derivatives for point to point moves. It is shown that the...

Received: June 23, 2015. Received in revised form: October 18, 2015. Accepted: October 25, 2015 This research focuses on proposing an optimal trajectory planning and control method of two link rigid-flexible manipulators (TLRFM) for Dynamic Object Manipulation (DOM) missions. For the first time, achievement of DOM task using a rotating one flexible link robot was taken into account in [20]. The...

Over the last 20 years significant effort has been dedicated to the development of samplingbased motion planning algorithms such as the Rapidly-exploring Random Trees (RRT) and its asymptotically optimal version (e.g. RRT∗). However, asymptotic optimality for RRT∗ only holds for linear and fully actuated systems or for a small number of non-linear systems (e.g. Dubin’s car) for which a steering...

Active valves are most effective tools to control gas flow in compressors if fast transitions between the open mode and closed mode are needed. Unfortunately, an accurate model including several nonlinear effects and in particular the resistance and gas flow forces is not available, and this prevents the use of standard model based approaches for time optimal control. However, the repetitive na...

This paper presents a trajectory planning method enabling autonomous robots to approach persons in dynamic environments to start a conversation proactively. It is shown how integrating human inspired parameters in optimal control based motion planning increases the readability of a motion. The presented trajectory planner is designed to improve the human-like appearance of an approach motion. E...

In deep brain stimulation surgeries, stimulating electrodes are placed at specific targets in the deep brain to treat neurological disorders. Reaching these targets safely requires avoiding critical structures in the brain. Meticulous planning is required to find a safe path from the cortical surface to the intended target. Choosing a trajectory automatically is difficult because there is littl...