In order to study how dynamical properties of the motor plant are accounted for in movement planning, an optimal motor planning hypothesis was proposed in the late eighties. It suggested that forward and inverse internal models of the dynamics of the motor plant are learned in the brain, and that these models are used to compute and minimize a cost along the movement sequence. In this paper, th...

This paper addresses t h e m o t i o n planning problem for a robot and a movable object amidst polygonal obstacles. M o t i o n planning in this context appears as a constrained instance of t h e coordinated m o t i o n planning problem for t w o robots. Indeed, the object cannot move by itself, at only does when the robot grasps at. W e f irs t show a topological property tha t characterizes ...

This paper deals with nonholonomic motion planning including obstacle avoidance capabilities. We show that the methods developed in absence of obstacles can be extended to the problem of obstacle avoidance, provided that they verify a topological property. Such steering methods allow us to design exact and complete collision-free path planners for a large family of systems. We show that the ste...

In this paper, we examine optimal path planning for the motion of a wheel which minimizes some combination of time and effort expended. Several techniques are examined but a combination of continuation and multi-dimensional N ewton-Raphson shooting is shown to be effective, within limits.

In this paper, we consider an optimal motion planning problem for a pair of point robots in a planar environment with polygonal obstacles. We seek a pair of paths upon which the robots can travel to move from their initial positions to positions in which they are able to communicate. In order to communicate, the robots need to be visible to one another. We give e cient algorithms for minimizing...

This paper addresses the modeling of the static and dynamic parts of the scenario and how to use this information with a sensor-based motion planning system. The contribution in the modeling aspect is a formulation of the detection and tracking of mobile objects and the mapping of the static structure in such a way that the nature (static/dynamic) of the observations is included in the estimati...

In a multi-robot system, the outcome depends significantly on how well the motion of individual robots are coordinated. The research challenge lies in formulating computational paradigms and strategies that allow a realtime search for optimal coordinated motions of individual robots under excessive search complexity. In this paper, the concept of the “mappeable zone” is proposed which represent...