Motion and Path Planning

Motion planning is a fundamental problem in robotics. It may be stated as finding a path for a robot or agent, such that the robot or agent may move along this path from its initial configuration to goal configuration without colliding with any static obstacles or other robots or agents in the environment. Motion planning algorithms are used in many fields, including bioinformatics, character animation, computer-aided design and computer-aided manufacturing (CAD/CAM), industrial automation, robotic surgery, and single and multiple robot navigation in both two and three dimensions.

Single Robot or Agent

• Optimization-based Motion Planning in Dynamic Environments, Projects Collection
• Safe Motion Planning for Human-Robot Interaction
• Efficient Configuration Space Construction and Optimization for Motion Planning, Engineering 2015
• Parallel Cartesian Planning in Dynamic Environments using Constrained Trajectory Planning, Humanoids 2015
• Faster Sample-based Motion Planning using Instance-based Learning, WAFR 2012
• Collision-Free and Curvature Continuous Path Smoothing in Cluttered Environments, RSS 2011
• Efficient Local Planning Using Connection Collision Query, WAFR 2010
• Real-time Motion Planning and Global Navigation Using GPUs, Projects Collection
• Constraint-based Motion Synthesis for Deformable Models, CASA 2008
• Path Computation for Part Disassembly, CAD 2008
• An Efficient Retraction-based RRT Planner, ICRA 2008
• Complete Motion Planning, Projects Collection
• Physics-based Motion Planning, Projects Collection
• Practical Local Planning in the Contact Space , ICRA 2005
• Constraint-Based Motion Planning of Deformable Robots, ICRA 2005
• Path Planning for Deformable Robots, RSS 2005
• Interactive Navigation Using Path Planning, I3D 2003
• Constraint-Based Motion Planning for Virtual Prototyping, WAFR 2002
• V-Plan: A Voronoi-Based Hybrid Motion Planner, IROS 2001
• Randomized Path Planning, WAFR 2000
• Motion Planning Using Generalized Voronoi Diagrams, Tec. Report 1999

Multiple Robots or Agents

• Predicting Pedestrian Trajectories using Velocity-Space Reasoning, IJRR 2015
• Smooth Navigation for Multiple Differential-drive Robots, ISER 2012
• Reciprocal Collision Avoidance with Acceleration-velocity Obstacles, ICRA 2011
• Optimal Reciprocal Collision Avoidance, ISRR 2011
• Navigating Multiple Simple-airplanes in 3D Workspace, ICRA 2010
• The Hybrid Reciprocal Velocity Obstacle, ICRA 2009
• Generalized Velocity Obstacles, IROS 2009
• Multi-robot Coordination and Planning, ICRA 2009
• Reciprocal Velocity Obstacles, ICRA 2008
• Reactive Deforming Roadmaps, IROS 2007

Human-like Motion Planning

• Optimization-based Motion Planning in Dynamic Environments, Projects Collection
• Human Motion Planning and Synthesis, Projects Collection
• Smooth and Dynamically Stable Navigation of Multiple Human-Like Robots, WAFR 2014