Research in motion planning has been striving to develop faster and faster planning algorithms in order to be able to address a wider range of applications. In this paper a novel real-time motion planning framework, called decomposition-based motion planning, is proposed. It is particularly well suited for planning problems that arise in service and field robotics. It decomposes the original pl...

Constrained motion planning is a challenging field of research, aiming for computationally efficient methods that can find collision-free path on the constraint manifolds between given start and goal configuration. These problems come up surprisingly frequently, such as in robot manipulation performing daily life assistive tasks. However, few solutions to constrained are available, those exist ...

This paper provides a closed-form analytical solution to the motion planning problem for the Snakeboard. Given a desired planar trajectory in the fiber space, an explicit solution is computed for the gaits in the base space that locomote the Snakeboard along the desired trajectory. This is achieved by introducing a new momentum-like variable that simplifies the Snakeboard’s equations of motion ...