be robust to changes in the local mapped environment. However, for many scenarios typical of UAV operations, it is still desirable to implement waypoint-driven guidance trajectories off-line to ensure optimality of the chosen flight profile. This is particularly true of lightweight micro-UAVs where optimal path planning is essential to maximise operational effectiveness against the low range an...

A popular technique for getting to a goal location in unknown terrain is planning with the freespace assumption. The robot assumes that the terrain is clear unless it knows otherwise. It always plans a shortest path to the goal location and re-plans whenever it detects an obstacle that blocks its path or, more generally, when it detects that its current path is no longer optimal. It has been un...

in this paper, finding dynamic load carrying capacity (dlcc) of flexible link manipulators in point to-point motion was formulated as an optimal control problem. the finite element method was employed for modelling and deriving the dynamic equations of the system. the study employed indirect solution of optimal control for system motion planning. due to offline nature of the method, many diffic...

This paper proposes a path and motion planning algorithm for a tree climbing problem. This problem is challenging as the shape of tree is complex and irregular. To our best knowledge, this is the first paper dealing with the path planning problem on natural tree environment. Different from conventional motion planning approach that requires constructing a complex configuration space, this paper...

Motion planning of walking machines normally contains two aspects: gait planning and body trajectory planning. When generating an optimal body trajectory on natural terrain, the leg movement must be taken into account. Due to the large searching space resulting from the combination of leg movement and terrain conditions, it is quite time consuming to produce an optimal result of body trajectory...

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...

A neural network solution is proposed for solving path planning problems faced by mobile robots. The proposed network is a two-dimensional sheet of neurons forming a distributed representation of the robot's workspace. Lateral interconnections between neurons are "cooperative", so that the network exhibits oscillatory behaviour. These oscillations are used to generate solutions of Bellman's dyn...

Planning optimal paths for large numbers of robots is computationally expensive. In this thesis, we present a new framework for multirobot path planning called subdimensional expansion, which initially plans for each robot individually, and then coordinates motion among the robots as needed. More specifically, subdimensional expansion initially creates a one-dimensional search space embedded in...