— The wavefront expansion is commonly used for path planning tasks and appreciated for its efficiency. However, the existing extensions able to handle currents are subject to in...
We present a fast goal-directed motion synthesis technique that integrates sample-based planning methods with constraint-based dynamics simulation using a finite element formulati...
— Motion planning for robotic arms is important for real, physical world applications. The planning for arms with high-degree-of-freedom (DOF) is hard because its search space is...
In free-floating mode, space manipulator systems have their actuators turned off, and exhibit nonholonomic behavior due to angular momentum conservation. The system is underactua...
Abstract-- Motion planning of deformable objects is challenging due to the high degrees-of-freedom inherent in deformation as well as the computational cost of producing physically...