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...
— The reduction of the kinematics and/or dynamics of a high-DOF robotic manipulator to a low-dimension “task space” has proven to be an invaluable tool for designing feedback...
Abstract— Kinodynamic planning algorithms like RapidlyExploring Randomized Trees (RRTs) hold the promise of finding feasible trajectories for rich dynamical systems with complex...
— 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...
— In this paper we present a new method for kinodynamic motion planning in environments that contain both static and moving obstacles. We present an efficient twostage approach:...