We present an approach to the problem of differentially constrained mobile robot motion
planning in arbitrary time-varying cost fields. We construct a special search space which is …

This paper presents the Discrete Search Lead-ing continuous eXploration (DSLX) planner, a
multi-resolution approach to motion planning that is suitable for challenging problems …

Although there are many motion planning techniques, there is no method that outperforms
all others for all problem instances. Rather, each technique has different strengths and …

This paper presents a method for optimal trajectory generation for discrete-time nonlinear
systems with linear temporal logic (LTL) task specifications. Our approach is based on …

We address the path planning problem for a team of robots satisfying a complex high-level
mission specification given in the form of a Linear Temporal Logic (LTL) formula. The state …

In this paper, we present an optimization based method for path planning of a mobile robot
subject to time bounded temporal constraints, in a dynamic environment. Temporal logic …

Collision checking is generally considered to be the primary computational bottleneck in
sampling-based motion planning algorithms. We show that this does not have to be the …

Recent work in sampling-based motion planning has yielded several different approaches
for computing good quality paths in high degree of freedom systems: path shortcutting …

We present an efficient algorithm for multi-robot motion planning from linear temporal logic
(LTL) specifications. We assume that the dynamics of each robot can be described by a …

The last decade, sampling based planners like the Probabilistic Roadmap Method have
proved to be successful in solving complex motion planning problems. We give a …