Motion planning in complex urban environments: An industrial application on autonomous last‐mile delivery vehicles
Sign Up to like & getrecommendations! Published in 2022 at "Journal of Field Robotics"
DOI: 10.1002/rob.22107
Abstract: In this article, a motion planning framework for autonomous driving is explored to achieve unmanned last‐mile delivery vehicle application in complicated urban scenario. This approach can dramatically improve the intelligence, driving safety, driving robustness, and… read more here.
Keywords: scenario; mile delivery; motion planning; last mile ... See more keywords
Motion planning and contact force distribution for heavy‐duty hexapod robots walking on unknown rugged terrains
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DOI: 10.1002/rob.22338
Abstract: Heavy‐duty hexapod robots have impressive stability, high load‐bearing capacity, and exceptional adaptability to rugged terrains. They are capable of working in challenging outdoor environments such as planetary exploration, disaster relief and mountain transportation. Their ability… read more here.
Keywords: contact force; force; force distribution; motion planning ... See more keywords
A differentiable dynamic modeling approach to integrated motion planning and actuator physical design for mobile manipulators
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DOI: 10.1002/rob.22394
Abstract: This paper investigates the differentiable dynamic modeling of mobile manipulators to facilitate efficient motion planning and physical design of actuators, where the actuator design is parameterized by physically meaningful motor geometry parameters. The proposed differentiable… read more here.
Keywords: dynamic modeling; actuator design; differentiable dynamic; design ... See more keywords
Physics-inspired motion planning for information-theoretic target detection using multiple aerial robots
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DOI: 10.1007/s10514-015-9542-0
Abstract: This paper presents a motion-planning strategy for multiple, mobile sensor platforms using visual sensors with a finite field of view. Visual sensors are used to collect position measurements of potential targets within the search domain.… read more here.
Keywords: motion; temperature; target; physics ... See more keywords
Motion planning for robot audition
Sign Up to like & getrecommendations! Published in 2019 at "Autonomous Robots"
DOI: 10.1007/s10514-019-09880-1
Abstract: AbstractRobot audition refers to a range of hearing capabilities which help robots explore and understand their environment. Among them, sound source localization is the problem of estimating the location of a sound source given measurements… read more here.
Keywords: audition; robot; source; motion planning ... See more keywords
Motion planning and control for mobile robot navigation using machine learning: a survey
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DOI: 10.1007/s10514-022-10039-8
Abstract: Moving in complex environments is an essential capability of intelligent mobile robots. Decades of research and engineering have been dedicated to developing sophisticated navigation systems to move mobile robots from one point to another. Despite… read more here.
Keywords: control mobile; motion planning; machine learning; navigation ... See more keywords
Dual-arm robot motion planning for collision avoidance using B-spline curve
Sign Up to like & getrecommendations! Published in 2017 at "International Journal of Precision Engineering and Manufacturing"
DOI: 10.1007/s12541-017-0099-z
Abstract: This paper proposes an algorithm for trajectory planning of dual-arm robot. Since the original collision-free path obtained in a probabilistic way is unnecessarily jerky, it may induce a high acceleration to robot’s actuator so we… read more here.
Keywords: arm robot; collision; robot; motion planning ... See more keywords
Constrained Whole Body Motion Planning in Task Configuration and Time
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DOI: 10.1007/s12541-018-0192-y
Abstract: Our goal in this research was to develop an efficient motion planning algorithm for a humanoid to enable it to perform complex tasks. To perform the tasks, the humanoid sometimes must be able to generate… read more here.
Keywords: motion; configuration; body motion; motion planning ... See more keywords
Visual analytics for nonlinear programming in robot motion planning
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DOI: 10.1007/s12650-021-00786-8
Abstract: Abstract Nonlinear programming is a complex methodology where a problem is mathematically expressed in terms of optimality while imposing constraints on feasibility. Such problems are formulated by humans and solved by optimization algorithms. We support… read more here.
Keywords: visual analytics; motion planning; nonlinear programming; robot motion ... See more keywords
Optimization-based motion planning of mobile manipulator with high degree of kinematic redundancy
Sign Up to like & getrecommendations! Published in 2019 at "International Journal of Intelligent Robotics and Applications"
DOI: 10.1007/s41315-019-00090-7
Abstract: With the integration of mobility and manipulation, mobile manipulator constructed by mobile platform and manipulator has become a potential solution for the fields of industrial manufacturing and services. One of the key issues in utilizing… read more here.
Keywords: high degree; motion planning; manipulator; mobile manipulator ... See more keywords
Optimal Solution of Kinodynamic Motion Planning for the Cart-Pole System
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DOI: 10.1016/j.ifacol.2017.08.895
Abstract: Abstract The aim of this work is motion planning for a class of underactuated mechanical systems. To illustrate the theory, we introduce and investigate, from a geometric and numerical point of view, the solution of… read more here.
Keywords: cart pole; motion planning; motion; solution kinodynamic ... See more keywords