This paper addresses motion planning of a homogeneous modular robotic system. The modules have selfreconfiguration capability so that a group of the modules can construct a robotic structure. Motion planning for selfreconfiguration is a kind of computationally difficult problem because of many combinatorial possibilities of modular configuration and the restricted degrees of freedom of the modu...

• 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...

Path planning technologies have rapidly improved over the last 10 years, but further integration is needed if pathfinding engines are to drive the behavior of even more realistic characters. This paper briefly outlines existing approaches for path planning and suggests scenarios where integration of information about character’s relationships could improve the quality of path planning in games.

This paper describes an open problem in temporal planning, namely the problem of recovering from failure in collapsing time intervals. We illustrate this problem in the context of the parcPLAN planning system and show its full complexity by combining the problem with resource reasoning. We also summarise some of the progress made to tackle this problem.

The textbook on motion planning “Principles of Robot Motion: Theory, Algorithms, and Implementations”, by H. Choset et al., MIT Press, which appeared in June 2005, is reviewed and compared with two other textbooks on the same subject, from 1991 and 2006, respectively. The ground-breaking developments over the last decade justify the necessity of the newer textbooks, which appear to be complemen...

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This paper discusses the feasibility of using conguration space (C-space) as a means of visualization and control in operator-guided real-time motion of a robot arm manipulator. The motivation is to improve performance of the human operator in tasks involving the manipulator motion in an environment with obstacles. Unlike some other motion planning tasks, operators are known to make expensive m...

Exploiting Structure: A Guided Approach to Sampling-Based Robot Motion Planning

Manipulating the Space Station Remote Manipulator (SSRMS) on the International Space Station (ISS) is a very challenging task. The operator does not have a direct view of the scene of operation and must rely on cameras mounted on the manipulator and at strategic places of the environment where it operates. In this paper, we describe how a new approach for robot path planning called FADPRM can b...

63 Topological Gaussian ARTs with Short-Term and Long-Term Memory for Map Building and Fuzzy Motion Planning; Chin Wei Hong, Graduate School of System Design, Tokyo Metropolitan University, Tokyo, Japan Loo Chu Kiong, Faculty of Computer Science and Information Technology, University of Malaya, Kuala Lumpur, Malaysia Kubota Naoyuki, Graduate School of System Design, Tokyo Metropolitan Universit...