Instabilities of robot motion are caused by topological reasons. In this paper we find a relation between the topological properties of a configuration space (the structure of its...
Abstract— To compute collision-free and dynamicallyfeasibile trajectories that satisfy high-level specifications given in a planning-domain definition language, this paper prop...
Real-time crowd motion planning requires fast, realistic methods for path planning as well as obstacle avoidance. In a previous work (Morini et al. in Cyberworlds International Con...
— The success of sampling-based motion planners has resulted in a plethora of methods for improving planning components, such as sampling and connection strategies, local planner...
— We present a motion planning scheme for ground vehicles operating in a partially known environment. Kinematic constraints stemming from vehicle dynamics and from the requiremen...