we design a two-stage scheme to consider trajectory planning problem of two mobile manipulators for cooperative transportation of a rigid body in presence of static obstacles. within the first stage, regarding the static obstacles we develop a method that searches the workspace for the shortest possible path between start and goal configurations by constructing a graph on a portion of the confi...

RM) planner applied to the robot with multiple degrees of freedom moving th static obstacles is proved to be efficient. But it is clumsy to environment ed path is usually not optimal and not smooth enough. In order to make the re flexible, this paper integrates the PRM planner with simulated annealing -stage path planner: at first a path is generated by PRM planner, then this ed by SA. If the o...

The paper studies automatic verification of liveness properties with probability 1 over parameterized programs that include probabilistic transitions, and proposes two novel approaches to the problem. The first approach is based on a Planner that occasionally determines the outcome of a finite sequence of “random” choices, while the other random choices are performed non-deterministically. Usin...

Reachability heuristics have lead to impressive scale-ups in deterministic planning making their application to probabilistic planning a promising research direction. We describe how one such reachability heuristic (based on planning graphs) can be extended to handle a class of cost-sensitive probabilistic planning problems. Specifically, we address the problem of conformant (non-observable) pr...

The PRODIGY system is based on bidirectional planning, which is a combination of goal-directed backward chaining with simulation of plan execution. Experiments have demonstrated that it is an efficient technique, a fair match to other successful planning systems. The question of completeness of bidirectional planning, however, has remained unanswered. We show that PRODIGY is not complete and di...

In this article, we consider path planning for car-like robots in a new way, adding a continuous-curvature condition to the paths. As the optimal paths are too complex to be used, we deene a type of continuous-curvature paths inspired of the Dubins' curves. These paths contain at most seven pieces, each piece being either a line segment, a circular arc or a clothoid arc (a clothoid is a curve w...

We present a new probabilistic tree-of-roadmaps (PTR) planner that integrates discrete task planning and continuous motion planning using a probabilistic forward search. PTR is explicitly designed with two characteristics in mind: 1) it allows tasks to take continuously variable parameters as input, such as the location of contact points for a robot manipulator executing an object pickup task; ...