Optimal shape and motion planning for dynamic planar manipulation

Optimal Shape and Motion Planning for Dynamic Planar Manipulation

This paper presents a framework for optimizing both the shape and the motion of a planar rigid end-effector to satisfy a desired manipulation task. We frame this design problem as a nonlinear optimization program, where shape and motion are decision variables represented as splines. The task is represented as a series of constraints, along with a fitness metric, which force the solution to be c...

Dynamic Programming and Optimal Motion Planning

Direct Optimal Motion Planning for Omni-directional Mobile Robots under Limitation on Velocity and Acceleration

This paper describes a low computational direct approach for optimal motion planning and obstacle avoidance of Omni-directional mobile robots within velocity and acceleration constraints on the robot motion. The main purpose of this problem is the minimization of a quadratic cost function while limitation on velocity and acceleration of robot is considered and collision with any obstacle in the...

Planar shape manipulation using approximate geometric primitives

We present robust algorithms for set operations and Euclidean transformations of curved shapes in the plane using approximate geometric primitives. We use a refinement algorithm to ensure consistency. Its computational complexity is O(n log n + k) for an input of size n with k = O(n) consistency violations. The output is as accurate as the geometric primitives. We validate our algorithms in flo...

Planning robot manipulation to clean planar surfaces

This paper presents a new approach to plan high-level manipulation actions for cleaning surfaces in household environments, like removing dirt from a table using a rag. Dragging actions can change the distribution of dirt in an unpredictable manner, and thus the planning becomes challenging. We propose to define the problem using explicitly uncertain actions, and then plan the most effective se...