we design a two-stage scheme to consider trajectory planning problem of two mobile manipulators for cooperative transportation of a rigid body in presence of static obstacles. within the first stage, regarding the static obstacles we develop a method that searches the workspace for the shortest possible path between start and goal configurations by constructing a graph on a portion of the confi...

This paper presents a genetic trajectory planning method of a robot manipulator producing the optimal trajectory between two end points. Genetic algorithm based methods seldom require a priori knowledge of a problem. Furthermore, they do not tend to fall into local optima and proceed toward the global optimum. However, they have di culty in handling equality constraints of trajectory boundary c...

Flexible needle insertion into viscoelastic tissue is modeled in this paper with a linear beam supported by virtual springs. Using this simplified model, the forward and inverse kinematics of the needle is solved analytically, providing a way for simulation and path planning in real-time. Using the inverse kinematics, the required needle basis trajectory can be computed for any desired needle t...

This case study discusses the interpolation of minimum-jerk robot joint trajectories through an arbitrary number of knots using a hard-wired neural network. Minimum-jerk joint trajectories are desirable for their similarity to human joint movements and their amenability to accurate tracking. The resultant trajectories are numerical functions of time. The interpolation problem is formulated as a...

We deal with the problem of planning collisionfree trajectories for robots operating in a shared space. Given the start and destination position for each of the robots, the task is to find trajectories for all robots that reach their destinations with minimum total cost such that the robots will not collide when following the found trajectories. Our approach starts from individually optimal tra...

This paper proposes a sampling based kinodynamic planning technique for planning informative trajectories for a sensing robot in a spatiotemporal environmental field. The robot uses a Kalman-Bucy filter to estimate the spatiotemporal field. The proposed algorithm finds a trajectory for the robot that minimizes a metric on the error covariance matrix of the field estimate. Since the error covari...

When a battery-powered robot needs to operate for a long period of time, optimizing its energy consumption becomes critical. Driving motors are a major source of power consumption for mobile robots. In this paper, we study the problem of finding optimal paths and velocity profiles for car-like robots so as to minimize the energy consumed during motion. We start with an established model for ene...

As research into UAVs accelerates into the 21st century, alternatives to fixed wing vehicles such as the quadrotor are causing interest. The quadrotor is a small agile vehicle which could be suitable for search and rescue, surveillance and remote inspection. For autonomous operation a control system that incorporates both trajectory planning and trajectory following is required. Trajectory plan...

1 2 Optimal Integration of Gravity in Trajectory Planning of Vertical Pointing 3 Movements 4 5 6 7 Frédéric Crevecoeur, Jean-Louis Thonnard, Philippe Lefèvre 8 9 10 11 1 Center for Systems Engineering and Applied Mechanics, Université catholique de Louvain, 12 2 Rehabilitation and Physical Medicine Unit, Université catholique de Louvain, 13 3 Laboratory of Neurophysiology, Université catholique...