Motion Planning

@inproceedings{Kavraki2016MotionP,
  title={Motion Planning},
  author={Lydia E. Kavraki and Steven M. LaValle},
  booktitle={Springer Handbook of Robotics, 2nd Ed.},
  year={2016}
}
This is the first installment of a two-part tutorial. The goal of the first part is to give the reader a basic understanding of the technical issues and types of approaches in solving the basic path-planning or obstacle-avoidance problem. The second installment will cover more advanced issues, including feedback, differential constraints, and uncertainty. Note that this is a brief tutorial rather than a comprehensive survey of methods. For the lat ter, consult some of the recent textbooks… 
Sampling Based Motion Planning with Reachable Volumes
TLDR
This work introduces a new concept, reachable volumes, that are a geometric representation of the regions the joints and end effectors of a robot can reach, and uses it to define a new planning space called RV-space where all points automatically satisfy a problems constraints.
Optimal motion planning for parallel robots via convex optimization and receding horizon
TLDR
The proposed algorithm can be regarded as a synergy of convex optimization with discrete optimization and receding horizon, which has several advantages, including absence of trapping in local optimums and a high computational speed.
Efficient Task and Path Planning for Maintenance Automation Using a Robot System
TLDR
A task planning algorithm is proposed which uses CAD and vision data and works on a contact analysis, based on a discrete approximation of the disassembly space, allowing a fast determination of possible robot manipulations.
Complexity of the forward kinematic map
Motion Planning Algorithms for Marine Vehicles
TLDR
The RRT method combined with differential constraints such as curvature continuity shows promising results, and future work could revolve around further tuning of the system and the generated paths, or expanding the method with another dimension to use for 3-D applications.
Computing Feedback Plans from Dynamical System Composition
TLDR
A new method that constructs a feedback plan by incrementally composing the long-term behavior of the robot’s motions for a set of actions is proposed, which takes advantage of dynamical system analysis techniques and efficient combinatorial algorithms.
Refined Analysis of Asymptotically-Optimal Kinodynamic Planning in the State-Cost Space
TLDR
A novel analysis of AO-RRT: a tree-based planner for motion planning with kinodynamic constraints, originally described by Hauser and Zhou, is presented and it is proved that any trajectory having a piecewise-constant control function and positive clearance from the obstacles can be approximated arbitrarily well by a trajectory found by AORRT.
Navigating Mobile Robot in Finite Environment Using Potential Field Merging
TLDR
A navigation technique based on Potential Field has been used to plan an optimal-safe path to pilot a mobile robot in known environment based on extracting path by merging information from two potential maps: security potential, pulling back robot from obstacles, and slope potential attracting robot to target.
Application of hybrid fast marching method to determine the real-time path for the biped robot
TLDR
A solution methodology using fast marching method hybridized with regression search (FMMHRS) to generate an optimal path between the start and goal points in real time to be found to be superior and efficient when compared with some of the approaches available in the literature.
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TLDR
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