This paper describes a reduced version of the general motion planning problem in the presence of uncertainty and a complete polynomial algorithm solving it. This algorithm computes a guaranteed plan by backchaining non-directional preimages of the goal until one fully contains the set of possible initial positions of the robot. It assumes that landmarks are scattered across the workspace, that ...

This paper presents a planning method of pushing manipulation by a mobile robot. It is sometimes very useful if the robot can take recovery action, namely, re-approaching and re-pushing, when it turns out to be ineffective to keep current pushing motion. The proposed planning framework is based on the idea of mode switching, where three modes; approaching, pushing and re-pushing, are considered...

We present an algorithm for combining natural language processing (NLP) and realtime robot motion planning to automatically generate safe robot movements. We present a novel method to map the complex natural language commands into appropriate cost function and constraint parameters for optimizationbased motion planning. Given NLP commands, we generate a factor graph named Dynamic Grounding Grap...

This report surveys work on geometry of motion planning for robotic manipulators, and gives a non-technical introduction to some of my recent work in this eld. This is an active eld of research in which there are a number of outstanding open problems and areas worthy of exploration. The report closes by describing work which I am hoping to carry out in the near future. 1 Review of existing work...

Space manipulator systems having spacecraft actuators turned off, operate in free-floating mode, and exhibit nonholonomic behaviour due to angular momentum conservation. The system is underactuated and a challenging problem is to control both the location of the end effector and the attitude of the base, using manipulator actuators only. A developed path planning method that perform this task i...

In the course we shall describe a new application of the algebraic topology in engineering. This theory allows to use the structure of the cohomology algebra of the configuration space to estimate numerically the character of instabilities appearing in the robot motion planning algorithms. We shall apply this approach to a number of specific problems which are interesting from both topological ...

We describe the problem of motion planning for multiple goals in unstructured environments by using temporal logic for specification of the goals. We solve the problem of mission planning for mobile robots, wherein the goal of the robot can be a complex mission specification rather than a classical "Go from A to B" problem. To achieve this problem we take a two dimensional map of the real envir...

In this paper, a motion planning system for a mobile robot is proposed. Path planning tries to find a feasible path for mobile robots to move from a starting node to a target node in an environment with obstacles. A genetic algorithm is used to generate an optimal path by taking the advantage of its strong optimization ability. Mobile robot, obstacle and target localizations are realized by mea...

We were engaged in research in various areas of robotic movement planning. The movement planning problems investigated were static movement problems (where the obstacles do not move), minimum distance path planning, compliant motion control (which involves planning without complete knowledge of the position of the robot) and related frictional movement problems, motion planning with independent...

Despite the many significant advances made in robotics research, few works have focused on the tight integration of task planning and motion control. Most integration works involve the task planner providing discrete commands to the low-level controller, which performs kinematics and control computations to command the motor and joint actuators. This paper presents a framework of the integrated...