The motion planning problem for mobile robots is typically formulated as follows: given a robot and a description of an environment, plan a path of the robot between two specified locations, which is collision-free and satisfies certain optimization criteria. Traditionally there are two approaches to the problem: Off-line planning, which assumes perfectly known and stable environment, and on-li...

Part assembly path planning consists in computing automatically a collision-free path for the part between a disassembled position and an assembled one. The part is first considered as a freeflying object. We have devised a probabilistic diffusion algorithm specially dedicated to that case. Then, we propose two approaches to add a virtual mannequin in the assembly process. The first one consist...

In this article, we consider path planning for car-like robots in a new way, adding a continuous-curvature condition to the paths. As the optimal paths are too complex to be used, we deene a type of continuous-curvature paths inspired of the Dubins' curves. These paths contain at most seven pieces, each piece being either a line segment, a circular arc or a clothoid arc (a clothoid is a curve w...

T s s a target itself. Another example is to guard a secured environment, where it is important to be covert as well as overt at the same time, in this way the chances are higher for the robot to see an intruder before the opposite happens. A covert robot may be used as well for hostage rescue, for example by sending an insect size covert robot with a camera to the hostage area to send images t...

If a robot can predict crowds in parts of its environment that are inaccessible to its sensors, then it can plan to avoid them. This paper proposes a fast, online algorithm that learns average crowd densities in different areas. It also describes how these densities can be incorporated into existing navigation architectures. In simulation across multiple challenging crowd scenarios, the robot r...

Path planning is one of the most important issues in mobile robots since it determines the intelligence of robots. It is about finding the shortest, collision free and smooth path form predefined start point to fixed target point with the presence of obstacles either static or dynamic. In this paper, we present a new approach of artificial intelligence for mobile robot. The proposed approach fo...

Path planning is a fundamental problem, especially for various AEC applications, such as architectural design, indoor and outdoor navigation, and emergency evacuation. However, the conventional approaches mainly operate path planning on 2D drawings or building layouts by simply considering geometric information, while losing abundant semantic information of building components. To address this ...

Motion planning is essential part in robotics science; it is responsible for planning paths for robots. The robot follow this plan in order to reach the goal from its position, while avoid collision with obstacles. Planning modules could be configured to check the optimality, completeness, power saving, shortness of path, minimal number of turn, or the turn sharpness, etc. In this technical pap...