— This paper presents an approach to time-optimal kinodynamic motion planning for a mobile robot. A global path planner is used to generate collision-free straight-line paths fro...
:This paper presents a trajectory planning algorithm for mobile robots which may be subject to kinodynamic constraints. Using computational methods from noncommutative harmonic ana...
Motion planning for mobile agents, such as robots, acting in the physical world is a challenging task, which traditionally concerns safe obstacle avoidance. We are interested in p...
Abstract— This paper provides proof-of-concept that stateof-the-art sampling-based motion planners that are tightly integrated with a physics-based simulator can compute paths th...
Ioan Alexandru Sucan, Jonathan F. Kruse, Mark Yim,...
— A series of kinodynamic sampling-based planners have appeared over the last decade to deal with high dimensional problems for robots with realistic motion constraints. Yet, ofï...