— A central challenging problem in humanoid robotics is to plan and execute dynamic tasks in dynamic environments. Given that the environment is known, sampling-based online moti...
Abstract— In this paper, we explore the problem of threedimensional motion planning in highly cluttered and unstructured outdoor environments. Because accurate sensing and modeli...
— We present an outdoor terrain planner that finds near optimal trajectories under dynamic and kinematic constraints. The planner can find solutions in close to real time by re...
The hierarchical generalized Voronoi graph (HGVG) is a new roadmap developed for sensor-based exploration in unknown environments. This paper defines the HGVG structure: a robot c...
— This paper presents a strategy for planning robot motions in dynamic, cluttered, and uncertain environments. Successful and efficient operation in such environments requires r...