We present a new approach to the multi-robot path planning problem, where a number of robots are to change their positions through feasible motions in the same static environment. Rather than the usual decoupled planning, we use a coordinated approach. As a result we can show that the method is probabilistically complete, that is, any solvable problem will be solved within a nite amount of time...

Autonomous navigation of a mobile robot along a predefined trajectory is a widely studied problem in the robotics community. As an alternative to Cartesian trajectories, we propose to define trajectories as sequences of sensory-motor information. In this paper we show that such a representation is suitable for navigating on the trajectory. To this end, we describe an architecture of Bayesian in...

A solution to the problem of controlling a car-like nonholonomic robot is proposed using a \virtual" vehicle approach, which is shown to be robust with respect to errors and disturbances. The proposed algorithms are model independent, and the stability analysis is done using a dynamical model, in which, for instance, the side slip angles are taken into account.

This paper shows how to compute the nonholonomic distance between a car-like robot of polygonal shape and polygonal obstacles. Adopting an optimal control point of view, we use transversality conditions to get information about the structure of paths that are admissible solutions. With this information, the problem of minimizing the length of a path that is, in general, function of three parame...

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...

In this reserach we present path curvature sensing methods for a carlike robot, which can be applied to motion planning and motion control. Toward this goal, we use a steering wheel angle sensor and two encoders on the rear wheels in the robot. We then demonstrate two curvature sensing methods using a steering map and wheel odometry at the rear axle. Finally, experimental results are presented ...

This paper presents a new path-tracking scheme for a car-like mobile robot based on neural predictive control. A multi-layer back-propagation neural network is employed to model non-linear kinematics of the robot instead of a linear regression estimator in order to adapt the robot to a large operating range. The neural predictive control for path tracking is a model-based predictive control bas...