Signi cant advances have been made in the area of macro planning for assembly operations (i.e., dividing a product into sub-assemblies, determining the sequence of assembly operations). On the contrary, the state of the art in micro planning (i.e., tool selection, path planning for tool and part movements) is rather primitive. To generate a realizable assembly plan, both macro planning and micr...

This chapter first provides a formulation of the geometric path planning problem in Sect. 5.1 and then introduces sampling-based planning in Sect. 5.2. Sampling-based planners are general techniques applicable to a wide set of problems and have been successful in dealing with hard planning instances. For specific, often simpler, planning instances, alternative approaches exist and are presented...

The acceptance of automated driving is under the potential threat motion sickness. It hinders passengers' willingness to perform secondary activities. In order mitigate sickness in vehicles, we propose an optimization-based planning algorithm that minimizes distribution acceleration energy within frequency range found be most nauseogenic. formulated into integral and receding-horizon variants c...

We propose a principled method to create a search space for constrained motion planning, which efficiently encodes only feasible motion plans. The space of possible paths is encoded implicitly in the connections between states, but only feasible and only local connections are allowed. Furthermore, we propose a systematic method to generate a near-minimal set of spatially distinct motion alterna...

In this literature review we discuss asynchronous multi agent motion planning. We first introduce fundamental ideas related to asynchronous multi agent motion planning such as asynchronous computation, multi agent systems and motion planning. We then discuss related work in asynchronous systems and motion planning of multi agent systems. We then discuss the application of asynchronous multi age...

Kinodynamic planning attempts to solve a robot motion problem subject to simultaneous kinematic and dynamics constraints. In the general problem, given a robot system, we must nd a minimal-time trajectory that goes from a start position and velocity to a goal position and velocity while avoiding obstacles by a safety margin and respecting constraints on velocity and acceleration. We consider th...

()*+,$"+P H, %O&) 6!6'$2 %O' 6$#"8'1 #@ &,%'$')% &) %# Z,( ! 6!%O [&%O +&C', ',(6#&,%) )-9O %O!% %O' 6!%O 8&') &,)&(' ! 9#16!9% )'% +&C', "/ ,#,8&,'!$ &,'\-!8&%&')E JO' 6$#6#)'( !66$#!9O -)') &,%'$C!8 !,!8/)&) @#$ 9O!$!9%'$&]&,+ "/ )-"6!C&,+) Q-,&#, #@ "#.')S !,( +$!6O !8+#$&%O1) @#$ Z,(&,+ )O#$% @'!)&"8' 6!%O)E I) !, &88-)%$!%&#,2 %O' 6$#"8'1 #@ Z,(&,+ 9#88&)&#,A@$'' 6!%O) @#$ ! 6#8/+#,!8 $&+&...