A new robot path planning methodology called obstacle accommodation has been introduced for robots in cluttered environments. This methodology does not attempt to avoid physical contact between a robot and obstacles. Instead, it controls the contact to prevent damage to the robot. Obstacle accommodation represents a new robotic paradigm in which obstacles can contact robots at unspecified posit...

Robot motion planning is a fairly intuitive and engaging topic, yet it is difficult to teach. The material is taught in undergraduate and graduate robotics classes in computer science, electrical engineering, mechanical engineering and aeronautical engineering, but at an abstract level. Deep learning could be achieved by having students implement and test different motion planning strategies. H...

This is the first installment of a two-part tutorial. The goal of the first part is to give the reader a basic understanding of the technical issues and types of approaches to solving the basic path planning or obstacle avoidance problem. The second installment will cover more advanced issues, including feedback, differential constraints, and uncertainty. Note that is a brief tutorial, rather t...

This paper introduces and surveys current progress in path/motion planning algorithms with greater attention given to recent work with RRTs (Rapidly-Exploring Random Trees).

Editing recorded motions to make them suitable for different sets of environmental constraints is a general and difficult open problem. In this paper we solve a significant part of this problem by modifying full-body motions with an interactive randomized motion planner. Our method is able to plan motions for specified linkages of an animated character in synchrony with the full-body motions af...

Motion planning is a fundamental problem in robotics. It comes in a variety of forms, but the simplest version is as follows. We are given a robot system B, which may consist of several rigid objects attached to each other through various joints, hinges, and links, or moving independently, and a 2D or 3D environment V cluttered with obstacles. We assume that the shape and location of the obstac...

We study the complexity of the motion planning problem for a bounded-reach robot in the situation where the n obstacles in its workspace satisfy two of the realistic models proposed in the literature, namely unclutteredness and small simple-cover complexity. We show that the maximum complexity of the free space of a robot with f degrees of freedom in the plane is Θ(n + n) for uncluttered enviro...

• Planning the coordinated motion of a group of agents who wish to move to a specified location amidst many obstacles • Planning the motion of an articulated skeletal model subject to constraints, such as maintaining hand contact with a door handle or avoiding collisions while passing through through a narrow passageway • Planning the motion of a character while navigating through a dense crowd...