Because a robot usually operates in environments with uncertain information, path planning for the robot should be performed in real-time so as to match process speed based on sensors. This paper presents an efficient approach to behavior based motion planning of a manipulator with many degrees of freedom, which is based on an algorithm for fast mapping obstacles from a robot's workspace (W-spa...

This paper describes a behavior-based architecture which integrates existing potential field approaches concerning motion planning as well as the evaluation and selection of actions into a single architecture. This combination allows, together with the concept of competing behaviors, the specification of more complex behaviors than the usual approach which is focusing on behavior superposition ...

This paper describes a low computational direct approach for optimal motion planning and obstacle avoidance of Omni-directional mobile robots within velocity and acceleration constraints on the robot motion. The main purpose of this problem is the minimization of a quadratic cost function while limitation on velocity and acceleration of robot is considered and collision with any obstacle in the...

The paper presents a method for a simple and immediate motion planning of a SCARA robot, whose end-effector has to move along a given trajectory; the calculation procedure requires the user to define in analytical form or by points the trajectory to be followed and to assign the curvilinear abscissa as function of the time. On the basis of the geometrical characteristics of the robot, a specifi...

Many planning applications involve complex relationships defined on high-dimensional, continuous variables. For example, robotic manipulation requires planning with kinematic, collision, and motion constraints involving robot configurations, object transforms, and robot trajectories. These constraints typically require specialized procedures to sample satisfying values. We extend the STRIPS pla...

Constraints play a central role in the analysis and planning of robot motion. We suggest that constraints form an appropriate language with which to program robot motion as well and describe the Least Constraint framework.

The following paper presents the ROS-I interface developed to control Comau manipulators. Initially, the Comau controller allowed users to command a real robot thanks to motion primitives formulated through a Comau motion planning library. Now, either a ROS or a non ROS -compliant platform can move either a real or a virtual Comau robot using any motion planning library. Comau modules have been...

A new approach to the motion planning problems of mobile robots in uncertain dynamic environments based on the behavior dynamics is proposed. The fundamental behavior of a mobile robot in motion planning, which is regarded as a dynamic process of the interaction between the robot and its local environment, is modeled and controlled for the motion planning purpose. The behavior dynamics is the l...

This thesis concerns robot motion planning with uncertainty in control and sensing. The problem can be formulated, with some approximations, as path-planning in the extended space of poses × covariances. The reduction of uncertainty due to data acquired by exteroceptive sensors is modelled with the use of Fisher’s information matrix. Many optimization problems can be defined in this framework; ...

In robot motion planning, we say that an algorithm is complete for a problem if it is guaranteed, for all instances of the problem, to nd a solution when one exists and to return failure otherwise. Completeness is a desirable property. It provides a guarantee that the algorithm will work as expected for all inputs and thus can be dependably included in a larger system. This is especially import...