Motion planning is a fundamental problem in robotics. It comes in a variety of forms, but the simplest version is as follows. We are given a robot system B, which may consist of several rigid objects attached to each other through various joints, hinges, and links, or moving independently, and a 2D or 3D environment V cluttered with obstacles. We assume that the shape and location of the obstac...

The paper presents path planning of dual arm free flying space robot using smooth functions of time. Kinematic and dynamic modeling of dual arm free flying space robot is presented first. Using kinematic model the Jacobian of the system and using dynamic model equation of motion are derived. A path planning methodology for planar system is developed using smooth function of time such as polynom...

The motion of nonholonomic mobile manipulators (NMMs) is inherently constrained by joint limits, velocity self-collisions and singularities. Most planning algorithms consider some the aforementioned constraints, however, a unified framework to deal with all them lacking. This paper proposes solution for kinematic trajectory tracking redundant NMMs that include constraints needed practical imple...

We present a new motion planning framework that explicitly considers uncertainty in robot motion to maximize the probability of avoiding collisions and successfully reaching a goal. In many motion planning applications ranging from maneuvering vehicles over unfamiliar terrain to steering flexible medical needles through human tissue, the response of a robot to commanded actions cannot be precis...

This paper proposes a wheeled mobile robot (WMR) robust control scheme. The feasible strategy is developed to achieve an efficient and autonomous motion. To realize kinematic planning of the WMR, novel controller designed based on Lyapunov function. part can be divided into following two aspects: 1) considering nonholonomic constraints in trajectory tracking, dynamic feedback-linearization adop...

An optimal motion planning of a free-falling cat based on the spline approximation is investigated. Nonholonomicity arises in a free-falling cat subjected to nonintegrable velocity constraints or nonintegrable conservation laws. The equation of dynamics of a free-falling cat is obtained by using the model of two symmetric rigid bodies. The control of the system can be converted to the motion pl...

Dextrous manipulation planning is a problem of paramount importance in the study of multi ngered robotic hands. In this paper, we show in general, that all system variables (the nger joint, object,and contact velocities) need to be included in the di erential kinematic equation used for manipulation planning, even if the manipulation task is only speci ed in terms of the goal con guration of th...

A set of constraints for motion planning whilst maintaining contact between a robot and a passive object is considered. It is demonstrated that a set of kinematic limits for the trajectory can be determined based upon the available force range and system response to perturbations. The proposed constraints are discretised and reformulated for a 2-D nonholonomic robot before being utilised by a m...

In our previous work, we proposed a potential field based hybrid path planning scheme for robot navigation that achieves complete coverage in various tasks. This paper is an extension of this work producing a multi-agent framework, Collaborator, that integrates a high-level negotiation-based task allocation protocol with a low-level path planning method taking into consideration several real-wo...