The problem of optimal feed-rate planning along a curved tool path for 3-axis CNC machines with a jerk limit for each axis is addressed. We prove that the optimal feed-rate planning must use “Bang-Bang” control, that is, at least one of the axes reaches its jerk bound throughout the motion. As a consequence, the optimal parametric velocity can be expressed as a piecewise analytic function of th...

The problem of optimal feedback planning among obstacles in d-dimensional configuration spaces is considered. We present a sampling-based, asymptotically optimal feedback planning method. Our method combines an incremental construction of the Delaunay triangulation, volumetric collision-detection module, and a modified Fast Marching Method to compute a converging sequence of feedback functions....

Probabilistic planning captures the uncertainty of plan execution by probabilistically modeling the effects of actions in the environment, and therefore the probability of reaching different states from a given state and action. In order to compute a solution for a probabilistic planning problem, planners need to manage the uncertainty associated with the different paths from the initial state ...

Route planning techniques is one of the main tasks of VRP (Vehicles route planning) which aims to find an optimal route from a starting point to a destination. Various techniques have been proposed so far to calculate shortest path in VANET by different researchers. This paper presents a study about the two well-known shortest path searching algorithms, which are used in routing. They are Bellm...

[Abstract] Motivated by long-endurance requirements in surveillance, reconnaissance and exploration, this paper considers level flight path planning for unmanned aerial vehicles (UAVs) equipped with solar cells on the upper surface of the wings. These solar cells collect energy that is stored in a battery and used to drive a propeller. The mission of the UAV is to travel from a given initial po...

the problem of navigation among movable obstacles (namo) is to find a collision free path for a robot while the robot is able to manipulate and transfer some objects (if possible or needed) to clear its path toward the goal. namo is a np-complete problem and is in a class of motion planning problems that have dynamic environments. in this domain, an optimal plan for the robot can be defined wit...

This paper is concerned with the problem of finding a time-optimal velocity profile along the predefined path for static formations of mobile robots in order to traverse the path in shortest time and to satisfy, for each mobile robot in the formation, velocity, acceleration, tip over and wheel slip prevention constraints. Time-optimal velocity planning is achieved using so called bang-bang cont...

We consider both discrete and continuous control problems constrained by a fixed budget of some resource, which may be renewed upon entering a preferred subset of the state space. In the discrete case, we consider deterministic shortest path problems on graphs with a full budget reset in all preferred nodes. In the continuous case, we derive augmented PDEs of optimal control, which are then sol...

We present a sampling-based, asymptotically optimal feedback planning method for the shortest path problem among obstacles in R. Our method combines an incremental sampling-based Delaunay triangulation with the newly introduced Repairing Fast Marching Method for computing a converging sequence of control policies. The convergence rate and asymptotic computational complexity of the algorithm are...