Learn More
Rapidly Exploring Random Tree (RRT) is one of the quickest and the most efficient obstacle free path finding algorithm. However, it cannot guarantee finding the most optimal path.. A recently proposed extension of RRT, known as Rapidly Exploring Random Tree Star (RRT*), claims to achieve convergence towards the optimal solution but has been proven to take(More)
Many sampling based algorithms have been introduced recently. Among them Rapidly Exploring Random Tree (RRT) is one of the quickest and the most efficient obstacle free path finding algorithm. Although it ensures probabilistic completeness, it cannot guarantee finding the most optimal path. Rapidly Exploring Random Tree Star (RRT*), a recently proposed(More)
Recently proposed Rapidly Exploring Random Tree Star (RRT*) algorithm which is an extension of Rapidly Exploring Random Tree (RRT) provides collision free asymptotically optimal path regardless of obstacle's geometry in a given environment. However, the drawback of this technique is a slow processing rate. This paper presents our proposed Potential Guided(More)
Many motion planning problems in robotics are high dimensional planning problems. While sampling-based motion planning algorithms handle the high dimensionality very well, the solution qualities are often hard to control due to the inherent randomization. In addition, they suffer severely when the configuration space has several `narrow passages'.(More)
Robot-assisted surgeries benefit from the availability of a stereo endoscopic camera to provide the surgeon with a 3D view of the surgical scene. This intra-operative imaging modality also enables the reconstruction of 3D soft-tissue surface, which is a prerequisite for many clinical applications such as image-guidance with cross-modality registration,(More)
The task of whole-body motion planning for humanoid robots is challenging due to its high-DOF nature, stability constraints, and the need for obstacle avoidance and movements that are efficient. Over the years, various approaches have been adopted to solve this problem such as bounding-box models and jacobian-based techniques. More commonly though,(More)
The benefits of bidirectional planning over the unidirectional version are well established for motion planning in high-dimensional configuration spaces. While bidirectional approaches have been employed with great success in the context of sampling-based planners such as in RRT-Connect, they have not enjoyed popularity amongst search-based methods such as(More)
The forces considered at the contact points were limited to the normal forces up to this point. The introduction of friction at contact points improves the grasp of the object. Friction provides tangential force to resist external forces in the direction perpendicular to normal force exerted by the contact points on the object. In 2D space, the resultant(More)