Motion planning for robots with many degrees of freedom requires the exploration of an exponentially large configuration space. Single-query motion planners restrict exploration ...
— Robotic motion planning requires configuration space exploration. In high-dimensional configuration spaces, a complete exploration is computationally intractable. Practical m...
— Lie group symmetry in a mechanical system can lead to a dimensional reduction in its dynamical equations. Typically, the symmetries that one exploits are intrinsic to the mecha...
— Standard methods to model multibody systems are aimed at systems with configuration spaces isomorphic to Rn . This limitation leads to singularities and other artifacts in cas...
Abstract— This paper proposes the kinodynamic gait planning for humanoid robots where both kinematics and dynamics of the system are considered. We can simultaneously plan both t...
— Computationally efficient motion planning must avoid exhaustive exploration of configuration space. We argue that this can be accomplished most effectively by carefully balan...
Abstract— We present the Constrained Bi-directional RapidlyExploring Random Tree (CBiRRT) algorithm for planning paths in configuration spaces with multiple constraints. This al...
Dmitry Berenson, Siddhartha S. Srinivasa, Dave Fer...
— We present a global vector field computation algorithm in configuration spaces for smooth feedback motion planning. Our algorithm performs approximate cell decomposition in t...