Motion planning

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Conferences related to Motion planning

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2020 59th IEEE Conference on Decision and Control (CDC)

The CDC is the premier conference dedicated to the advancement of the theory and practice of systems and control. The CDC annually brings together an international community of researchers and practitioners in the field of automatic control to discuss new research results, perspectives on future developments, and innovative applications relevant to decision making, automatic control, and related areas.


2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)

AMC2020 is the 16th in a series of biennial international workshops on Advanced Motion Control which aims to bring together researchers from both academia and industry and to promote omnipresent motion control technologies and applications.


2020 IEEE 29th International Symposium on Industrial Electronics (ISIE)

ISIE focuses on advancements in knowledge, new methods, and technologies relevant to industrial electronics, along with their applications and future developments.


2020 IEEE International Conference on Robotics and Automation (ICRA)

The International Conference on Robotics and Automation (ICRA) is the IEEE Robotics and Automation Society’s biggest conference and one of the leading international forums for robotics researchers to present their work.


2020 IEEE International Conference on Systems, Man, and Cybernetics (SMC)

The 2020 IEEE International Conference on Systems, Man, and Cybernetics (SMC 2020) will be held in Metro Toronto Convention Centre (MTCC), Toronto, Ontario, Canada. SMC 2020 is the flagship conference of the IEEE Systems, Man, and Cybernetics Society. It provides an international forum for researchers and practitioners to report most recent innovations and developments, summarize state-of-the-art, and exchange ideas and advances in all aspects of systems science and engineering, human machine systems, and cybernetics. Advances in these fields have increasing importance in the creation of intelligent environments involving technologies interacting with humans to provide an enriching experience and thereby improve quality of life. Papers related to the conference theme are solicited, including theories, methodologies, and emerging applications. Contributions to theory and practice, including but not limited to the following technical areas, are invited.


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Periodicals related to Motion planning

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Antennas and Propagation, IEEE Transactions on

Experimental and theoretical advances in antennas including design and development, and in the propagation of electromagnetic waves including scattering, diffraction and interaction with continuous media; and applications pertinent to antennas and propagation, such as remote sensing, applied optics, and millimeter and submillimeter wave techniques.


Automatic Control, IEEE Transactions on

The theory, design and application of Control Systems. It shall encompass components, and the integration of these components, as are necessary for the construction of such systems. The word `systems' as used herein shall be interpreted to include physical, biological, organizational and other entities and combinations thereof, which can be represented through a mathematical symbolism. The Field of Interest: shall ...


Automation Science and Engineering, IEEE Transactions on

The IEEE Transactions on Automation Sciences and Engineering (T-ASE) publishes fundamental papers on Automation, emphasizing scientific results that advance efficiency, quality, productivity, and reliability. T-ASE encourages interdisciplinary approaches from computer science, control systems, electrical engineering, mathematics, mechanical engineering, operations research, and other fields. We welcome results relevant to industries such as agriculture, biotechnology, healthcare, home automation, maintenance, manufacturing, pharmaceuticals, retail, ...


Biomedical Engineering, IEEE Transactions on

Broad coverage of concepts and methods of the physical and engineering sciences applied in biology and medicine, ranging from formalized mathematical theory through experimental science and technological development to practical clinical applications.


Computer

Computer, the flagship publication of the IEEE Computer Society, publishes peer-reviewed technical content that covers all aspects of computer science, computer engineering, technology, and applications. Computer is a resource that practitioners, researchers, and managers can rely on to provide timely information about current research developments, trends, best practices, and changes in the profession.


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Most published Xplore authors for Motion planning

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Xplore Articles related to Motion planning

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Simultaneous path planning and free space exploration with skin sensor

Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), 2002

This paper addresses a general class of problems for sensor-based path planning and exploration for robots moving in unknown environments. The robot is assumed to be equipped with a large number of proximity sensors mounted on its body (a "skin" sensor). Robot's own motion is used to sense the free space, analogous to a blind person "groping and exploring" using ...


Algorithms for planning and control of robot motions [TC Spotlight]

IEEE Robotics & Automation Magazine, 2009

Robot motion planning and control is an essential component in creating autonomous systems that are able to execute high-level tasks for navigating and manipulating objects in challenging environments. Motion planning has led to active research over the past decades. Most of the research focused on the computational issue of generating feasible paths that lead the robot to a desired goal, ...


Motion planning for metamorphic systems: feasibility, decidability, and distributed reconfiguration

IEEE Transactions on Robotics and Automation, 2004

In this paper, we address a number of issues related to motion planning and analysis of rectangular metamorphic robotic systems. We first present a distributed algorithm for reconfiguration that applies to a relatively large subclass of configurations, called horizontally convex configurations. We then discuss several fundamental questions in the analysis of metamorphic systems. In particular, the following two questions are ...


How to move a chair through a door

Proceedings. 1987 IEEE International Conference on Robotics and Automation, 1987

We define the door-width of a simple polygon (a 'chair') and give an O(n<sup>2</sup>) algorithm for computing its door-width. It is first shown that all passages of the chair through the door can be reduced to a sequence of certain elementary motions. We introduce the technique of constraint analysis in characterizing elementary motions. Our algorithm actually constructs a motion of ...


To push or not to push: on the rearrangement of movable objects by a mobile robot

Proceedings of IEEE International Conference on Robotics and Automation, 1996

Formulates and addresses the problem of planning a pushing manipulation by a mobile robot which tries to rearrange several movable objects in its work space. The authors present an algorithm which, when given a set of goal configurations, plans a pushing path to the "cheapest" goal or announces that no such path exists. The pushing path is found using a ...


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Educational Resources on Motion planning

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IEEE-USA E-Books

  • Simultaneous path planning and free space exploration with skin sensor

    This paper addresses a general class of problems for sensor-based path planning and exploration for robots moving in unknown environments. The robot is assumed to be equipped with a large number of proximity sensors mounted on its body (a "skin" sensor). Robot's own motion is used to sense the free space, analogous to a blind person "groping and exploring" using his sense of touch. This sensed free space can be memorized and used to further plan the robot's motion. Using this key idea, we propose a general framework for such skin sensor based motion planning that is valid for robots with large degrees of freedom. The specific motion-planning algorithm developed uses a variant of the probabilistic roadmap method. A novel "metric" based on the notion of C-zone map for robot's movement that results in efficient exploration of configuration space is proposed and implemented. Planar simulations demonstrate our results.

  • Algorithms for planning and control of robot motions [TC Spotlight]

    Robot motion planning and control is an essential component in creating autonomous systems that are able to execute high-level tasks for navigating and manipulating objects in challenging environments. Motion planning has led to active research over the past decades. Most of the research focused on the computational issue of generating feasible paths that lead the robot to a desired goal, while generally ignoring control concerns such as feedback, optimum, and uncertainty. The breakthrough achieved with sampling-based algorithms leads to effective techniques for hard, high-dimensional problems, and the recent improvements brought motion-planning algorithms closer to applicability in real problems. Nowadays, the practical interest of the state- of-the-art techniques is no longer restricted to robotics but extends to challenging problems arising in such diverse fields as graphics animation, virtual prototyping, and computational biology.

  • Motion planning for metamorphic systems: feasibility, decidability, and distributed reconfiguration

    In this paper, we address a number of issues related to motion planning and analysis of rectangular metamorphic robotic systems. We first present a distributed algorithm for reconfiguration that applies to a relatively large subclass of configurations, called horizontally convex configurations. We then discuss several fundamental questions in the analysis of metamorphic systems. In particular, the following two questions are shown to be decidable: 1) whether a given set of motion rules maintains connectivity; 2) whether a goal configuration is reachable from a given initial configuration (at specified locations). In the general case in which each module has an internal state, the following is shown to be undecidable: given a set of motion rules, whether there exists a certain type of configuration called a uniform straight-chain configuration that yields a disconnected configuration.

  • How to move a chair through a door

    We define the door-width of a simple polygon (a 'chair') and give an O(n<sup>2</sup>) algorithm for computing its door-width. It is first shown that all passages of the chair through the door can be reduced to a sequence of certain elementary motions. We introduce the technique of constraint analysis in characterizing elementary motions. Our algorithm actually constructs a motion of the chair through a door, and thus is a 'local-expert' for planning motion through doors. Such algorithms have applications in more general motion-planning systems in robotics.

  • To push or not to push: on the rearrangement of movable objects by a mobile robot

    Formulates and addresses the problem of planning a pushing manipulation by a mobile robot which tries to rearrange several movable objects in its work space. The authors present an algorithm which, when given a set of goal configurations, plans a pushing path to the "cheapest" goal or announces that no such path exists. The pushing path is found using a two phase procedure: context sensitive back propagation of a cost function, and a pushing path restoration phase. The latter is based on a gradient descent procedure which considers, at each step, only admissible neighboring configurations. The admissibility mechanism provides a primary tool for expressing the unique characteristics of the pushing manipulation. It also allows a full integration of any geometrical constraints imposed by the pushing robot and the pushed objects. The authors have proved the algorithm to be optimal and (resolution-) complete and give some simulation results in different scenarios, as well as some experimental results using a real platform.

  • Channel learning and communication-aware motion planning in mobile networks

    In this paper we propose a communication-aware motion planning framework to ensure robust cooperative operation of a mobile network in realistic communication environments. We use a probabilistic multi-scale model for channel characterization. We then utilize our previously proposed model-based channel prediction framework in order to devise communication-aware motion- planning approaches. We first propose a motion generation strategy that optimally plans the trajectory of the robot in order to improve its channel learning in an environment. We then propose a communication-aware navigation approach in which link quality predictions are combined with sensing goals in order to ensure cooperative and networked task accomplishment. Our simulation results show the superior performance of our proposed communication-aware motion planning framework.

  • Towards planning with force constraints: on the mobility of bodies in contact

    A configuration-space-based approach for analyzing the interactions and mobility of objects in quasi-static contact is described. This analysis is motivated by a class of articulated robot motion-planning problems that are not handled by current planning systems. Examples are a snake-like robot that crawls inside a tunnel by bracing against the tunnel walls, a limbed robot (analogous to a monkey) that climbs a trussed structure by pushing and pulling, and a dextrous robotic hand that moves its fingers along an object while holding it stationary. In these examples, one must plan the robot motion to satisfy high-level goals while maintaining quasistatic stability. Planning the hand-hold states (analogous to the hand-holds used by rock climbers between dynamically moving states) where the robot mechanism is at a static equilibrium is considered primarily. The results obtained are some of the first steps necessary to develop planning paradigms for this class of problems. Although the authors have the general class of quasistatic planning problems in mind, the authors use the language of grasping for discussion.<<ETX>>

  • Fast generator of multiple collision-free trajectories in dynamic environments

    This paper presents a fast technique for obtaining a set of collision-free trajectories for a mobile robot under a continuous time approach. Given a mobile-robot path, a set of speeds for the mobile robot is generated with the constraint of avoiding collision with the moving obstacles in sight. Afterwards, this set of speeds is easily updated, when a change in the original mobile-robot path is applied. Collision-free trajectories that do not verify the dynamic constraints of the mobile robot are simply rejected

  • Joint-angle-drift remedy of three-link planar robot arm performing different types of end-effector trajectories

    In this paper, the quadratic-programming (QP) based scheme-formulation is employed to handle the joint-angle-drift problem of a redundant three-link planar robot arm with its end-effector moving along different types of trajectories (e.g., a Lissajous-figure path, a triangular path and an elliptical path). The physical constraints such as joint limits and joint velocity limits are considered as well. A series of computer-simulations are conducted, which demonstrate the effectiveness of such a scheme-formulation and its neural-network solver on motion planning.

  • Computation of configuration-space obstacles using the fast Fourier transform

    This paper presents a new method for computing the configuration-space map of obstacles that is used in motion-planning algorithms. The method derives from the observation that, when the robot is a rigid object that can only translate, the configuration space is a convolution of the workspace and the robot. This convolution is computed with the use of the fast Fourier transform (FFT) algorithm. The method is particularly promising for workspaces with many and/or complicated obstacles, or when the shape of the robot is not simple. It is an inherently parallel method that can significantly benefit from existing experience and hardware on the FFT.<<ETX>>



Standards related to Motion planning

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No standards are currently tagged "Motion planning"