— The configuration space of a robot is partitioned into free space and C-obstacle space. Most of the prior work in collision detection and motion planning algorithms is targete...
Liangjun Zhang, Young J. Kim, Gokul Varadhan, Dine...
— 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...
We show how to recover 2D structure and motion linearly in order to initialize Simultaneous Mapping and Localization (SLAM) for bearings-only measurements and planar motion. The m...
— This paper provides a detailed analysis of the motion planning subsystem for the MIT DARPA Urban Challenge vehicle. The approach is based on the Rapidly-exploring Random Trees ...
Yoshiaki Kuwata, Gaston A. Fiore, Justin Teo, Emil...
Abstract— We consider the problem of planning collisionfree motions for general (i.e., possibly nonholonomic) redundant robots subject to task space constraints. Previous approac...