Robot Motion Planning

This project studies a geometric motion planning paradigm for robots in narrow passage and with high degrees of freedom. The mathematical foundation is based on a closed-form characterization of collision-free configuration-space boundary. The solutions start with a 2D single-body robot, and extend to 3D articulated bodies. A rigorous benchmark with vanilla sampling-based motion planners shows the efficiency and effectiveness of the proposed algorithms

[Paper]

[1] Ruan, S., Poblete, K.L., Wu, H., Ma, Q. and Chirikjian, G.S., 2022. Efficient Path Planning in Narrow Passages for Robots with Ellipsoidal Components. IEEE Transactions on Robotics

https://ieeexplore.ieee.org/document/9841604

[2] Ruan S., Ma Q., Poblete K.L., Yan Y., Chirikjian G.S., 2018. Path Planning for Ellipsoidal Robots and General Obstacles via Closed-form Minkowski Operations. In International Workshop on the Algorithmic Foundations of Robotics (pp. 3-18). Springer, Cham