We address robust path planning for a mobile agent in a general environment by finding minimum cost source-destination paths having prescribed widths. The main result is a new approach that optimally solves the robust path planning problem using an efficient network flow formulation. Our algorithm represents a significant departure from conventional shortest-path or graph search based methods; ...

Optimal motion planning is critical for the successful operation of an autonomous mobile robot. Many proposed approaches use either fuzzy logic or genetic algorithms (GAs), however, most approaches offer only path planning or only trajectory planning, but not both. In addition, few approaches attempt to address the impact of varying terrain conditions on the optimal path. This paper presents a ...

This paper presents an approach for optimal path planning on implicitly-defined configuration spaces such as those arising, for instance, when manipulating an object with two arms or with a multifingered hand. In this kind of situations, the kinematic and contact constraints induce configuration spaces that are manifolds embedded in higher dimensional ambient spaces. Existing sampling-based app...

This paper presents an efficient approach for asymptotically-optimal path planning on implicitly-defined configuration spaces. Recently, several asymptotically-optimal path planners have been introduced, but they typically exhibit slow convergence rates. Moreover, these planners can not operate on the configuration spaces that appear in the presence of kinematic or contact constraints, such as ...

Simulation of evacuation plans is a relatively complex problem. It is necessary to simulate a number of separate processes which interact in the result. Namely, they are pedestrian-pedestrian interactions, pedestrian-static object (e.g. wall) interactions and pedestrian-environment (fire, smoke, etc.) interactions. In this case, the evacuation simulation is controled on the microscopic level. M...

In this paper we present a powerful technique for analysing production networks in the presence of decision-making variables and cost exibility. Processes are modelled as a network , similar to PERT/CPM schemes, but with built-in decision and cost variables. For minimal increased complexity in the development of the network, we show that powerful analysis and optimisation techniques are enabled...

Path planning is one of the most vital elements of mobile robotics, providing the agent with a collision-free route through the workspace. The global path plan can be calculated with a variety of informed search algorithms, most notably the A* search method, guaranteed to deliver a complete and optimal solution that minimizes the path cost. D* is widely used for its dynamic replanning capabilit...

A robot path planning technique is proposed in the paper. It was developed for robots with differential drive, but with minor modifications it could be used for all types of nonholonomic robots. The path was planned in the way to minimise the time of reaching the end point in desired direction and with desired velocity, starting from the initial state described by the start point, initial direc...

This paper presents a complete modelling, singularity characterization and path planning design for a newly developed 3 legs 6 degree-of-freedoms (DOFs) parallel manipulator. In the presented architecture, the base platform has three linear slideways actuated respectively by a linear DC motor, and each extensible vertical link connecting the upper and base platforms is actuated by an inductive ...

The aim of this project is to study and implement path planning algorithms on a mobile robot working in a dynamic environment like warehouse delivering packages from one place to another. During its journey if the robot encounters any obstacle, it replans its trajectory and proceed to the target. The system was developed entirely in Robot Operating System(ROS) and Gazebo. A 2D occupancy grid ma...