We propose a motion planning algorithm for performing policy search in the full pose and velocity space of a mobile robot. By comparison, existing techniques optimize high-level plans, but fail to optimize the low-level motion controls. We use policy search in a high dimensional control space to find plans that lead to measurably better motion planning. Our experimental results suggest that our...

This work makes two contributions to geometric motion planning for multiple robots: 1) motion plans are computed that simultaneously optimize an independent performance measure for each robot; 2) a general spectrum is defined between decoupled and centralized planning, in which we introduce coordination along independent roadmaps. By considering independent performance measures, we introduce a ...

Human motion capture is a promising technique for the generation of humanoid robot motions. To convert human motion into humanoid robot motion, we need to relate the humanoid robot kinematics to the kinematics of a human performer. In this paper we propose an automatic approach for scaling of humanoid robot kinematic parameters to the kinematic parameters of a human performer. The kinematic mod...

This paper considers the problem of path planning for teams of mobile robots. It investigates two decoupled and prioritized approaches to coordinate the movements of the mobile robots in their environment. The first approach considered is the coordination technique. The second approach is an A -based path planning technique which computes the paths for the individual robots in the configuration...

The base attitude of a free floating space robot may change while performing a motion with its manipulator. This dynamic coupling complicates the motion planning of the space robot and must be taken into account in order to reach a target point with a desired end-effector pose. However, the free floating mode is useful, because of its energy efficiency, and with proper motion planning, its adeq...

a cost or feasibility on the traversal heading. Gravity, friction, visibility, and safety are often nisotropic for mobile robots. Anisotropism often differs qualitatively with heading, as when . M a vehicle has insufficient power to go uphill or must brake to avoid accelerating downhill odeling qualitative distinctions requires discontinuities in either the cost-per-traversalc distance function...

The paper analyzes two important issues in the design of multi-robot systems: (i) motion planning with the use of distributed algorithms, (ii) sensor fusion with the use of Extended Kalman or Particle Filtering. First, distributed gradient for motion planning of a multi-robot system is examined. The dynamic model of the multi-robot system is derived and its convergence to the desirable position...

High-speed mobile robots have many important applications in rough terrain. At high speeds, it is difficult to guarantee safe robot motion using traditional control and planning techniques. This paper presents an experimental high-speed rover system for studying reactive behavior control to avoid potentially dangerous situations. The method consists of sensor-triggered maneuvers that have been ...

Robust navigation through rocky terrain by small mobile robots is important for maximizing science return from upcoming missions to Mars. We are addressing this problem at multiple levels through the development of intelligent sequencing, sensor constrained path planning, natural terrain visual localization, and real-time state estimation. Each of these techniques will be described, and their c...