Many critical robotics applications require robustness to disturbances arising from unplanned forces, state uncertainty, and model errors. Motion planning algorithms that explicitly reason about robustness require a coupling of trajectory optimization and feedback design, where the system’s closedloop response to bounded disturbances is optimized. Due to the often-heavy computational demands of...

Motion planning has generally focused on computing a collision-free trajectory to a goal region. Enhancing the ability of robots in manipulation, automation, medicine, and other areas, however, often requires richer task specifications. Toward this goal, we study the problem of computing a collision-free trajectory that satisfies task specifications given by Finite Automata, STRIPS, Linear Temp...

The picking robot arm is scheduled to complete picking tasks in the working space, to overcome the shaking vibration to improve the picking stability, its movement should follow specific consistence trajectory points. Usually we should give definite multiple feature picking points, map their inverse kinematics to the joint space, establish motion equation for the corresponding point in the join...

Software decision support tools that assist controllers with the management of air traffic are dependent upon the ability to accurately predict future aircraft positions. Trajectory predictions in en route airspace rely upon the availability of aircraft state, aircraft performance, pilot intent, and atmospheric data. The use of real-time airline information for improving ground-based trajectory...

The problem of planning a safe trajectory for a free-flying robot to approach an uncontrolled spinning satellite is addressed. First, a heuristic plan is presented for a simple planar case, which constructs a collision-free path within realistic system constraints. Second, a general numerical optimization technique for planning a safe spatial trajectory is presented. In it, the approach path is...

This paper presents an implementation of trajectory planning method while considering velocity constraints for a two-wheeled mobile robot (TMR) on Xenomai. A Bezier curve is utilized to make an S-curved path. A convolution operator is used to generate a velocity profile of the travel distance of the planned path while considering the velocity constraints of the TMR. The trajectory planning and ...

The contribution of the paper is a high performance pathplanning algorithm designed to be used within a multi-agent planning framework solving a UAV collision avoidance problem. Due to the lack of benchmark examples and available algorithms for 3D+time planning, the algorithm performance has been compared in the classical domain of path planning in grids with blocked and unblocked cells. The Ac...