This work considers the failure tolerant operation of a kinematically redundant manipulator in an environment containing obstacles. In particular, the article addresses the problem of planning a collision-free path for a manipulator operating in a static environment such that the manipulator can reach its desired goal despite a single locked-joint failure and the presence of obstacles in the en...

A control scheme for flexible-link manipulators is advanced which is based on the notion of nonlinear inner–outer factorization. It is well known that the inverse of the forward dynamics map from joint torques to manipulator tip motion is noncausal and cannot be implemented in conjunction with real-time path planning. The methods used here determine causal approximations for the inverse dynamic...

Simple Subgoal Graphs are constructed from grids by placing subgoals at the corners of obstacles and connecting them. They are analogous to visibility graphs for continuous terrain but have fewer edges and can be used to quickly find shortest paths on grids. The vertices of a Simple Subgoal Graph can be partitioned into different levels to create N-Level Subgoal Graphs, which can be used to fin...

As for the limitations of algorithms in global path planning of mobile robot at present, this study applies the improved simulated annealing algorithm artificial neural networks to path planning of mobile robot in order to better the weaknesses of great scale of iteration computation and slow convergence, since the best-reserved simulated annealing algorithm was introduced and it was effectivel...

We present a probabilistic method for path planning that considers trajectories constrained by both the environment and an ensemble of restrictions or preferences on preferred motions for a moving robot. Our system learns constraints and preference biases on a robot’s motion from examples, and then synthesizes behaviors that satisfy these constraints. This behavior can encompass motions that sa...

Grid-based methods for finding cost optimal paths are popular because of their flexibility and simple implementation. However, their computational complexity becomes unfeasible for real-time path planning if the resolution of the grid is high. These methods assume complete knowledge about the world, but in dynamic environments where sensing is done on board the robot, less is known about far-aw...

In this paper, we give a double twist to the problem of planning under uncertainty. State-of-the-art planners seek to minimize the localization uncertainty by only considering the geometric structure of the scene. In this paper, we argue that motion planning for vision-controlled robots should be perception aware in that the robot should also favor texture-rich areas to minimize the localizatio...

Deceptive path-planning involves finding a path such that the probability of an observer identifying its final destination—before it has been reached— is minimised. This paper formalises deception as it applies to path-planning and introduces the notion of a last deceptive point (LDP) which, when measured in terms of path completion, can be used to rank paths by their potential to deceive. Buil...

Path planning is dynamic when the path is continually recomputed as more information becomes available. A computational framework for dynamic path planning is proposed which has the ability to provide navigational directions during the computation of the plan. Path planning is performed using a potential eld approach. We use a speciic type of potential function a harmonic function-which has no ...

Exploiting unique features of nonholonomic systems, innovative and advantageous mechanisms can be designed. We have proposed a nonholonomic manipulator which is a controllable n joint manipulator with only two actuators. In order to create its nonholonomic constraint, a special type of velocity transmission, called the nonholonomic gear, was developed. There are many possible alternatives for d...