Longitudinal Motion Planning for Slung-Loads Using Simplified Models and Rapidly-Exploring Random Trees

Robotic Path Planning using Rapidly exploring Random Trees

Rapidly exploring Random Tree (RRT) path planning methods provide feasible paths between a start and goal point in configuration spaces containing obstacles, sacrificing optimality (eg. Shortest path) for speed. The raw resultant paths are generally jagged and the cost of extending the tree can increase steeply as the number of existing branches grow. This paper provides details of a speed-up m...

Sampling-based Motion Planning for Cooperative Aerial Manipulation

This paper focuses on the optimal motion planning problem for cooperative aerial manipulation. We use the rapidly exploring random trees star (RRT*) algorithm that finds feasible paths quickly and optimizes them. For local planning within RRT*, we developed a trajectory planner using Bezier-curve which utilizes the differential flatness property of the aerial manipulator. Time-parameterization ...

RSRT: Rapidly exploring sorted random tree - online adapting rrt to reduce computational solving time while motion planning in wide configuration spaces

We present a new algorithm, named RSRT, for Rapidly-exploring Random Trees (RRT) based on inherent relations analysis between RRT components. RRT algorithms are designed to consider interactions between these inherent components. We explain properties of known variations and we present some future once which are required to deal with dynamic strategies. We present experimental results for a wid...

Rapidly-Exploring Random Trees: A New Tool for Path Planning

Intelligent bidirectional rapidly-exploring random trees for optimal motion planning in complex cluttered environments

The sampling based motion planning algorithm known as Rapidly-exploring Random Trees (RRT) has gained the attention of many researchers due to their computational efficiency and effectiveness. Recently, a variant of RRT called RRT* has been proposed that ensures asymptotic optimality. Subsequently its bidirectional version has also been introduced in the literature known as Bidirectional-RRT* (...