The fundamental path planning problem for a mobile robot involves generating a trajectory
for point-to-point navigation while avoiding obstacles. Heuristic-based search algorithms like …

Temporal logic is a concise way of specifying complex tasks. However, motion planning to
achieve temporal logic specifications is difficult, and existing methods struggle to scale to …

This paper presents a generalization of the classic A* algorithm to the domain of sampling-
based motion planning. The root assumptions of the A* algorithm are examined and …

Manipulation planning from high-level task specifications, even though highly desirable, is a
challenging problem. The large dimensionality of manipulators and complexity of task …

In this paper we present a method for automatically planning optimal paths for a group of
robots that satisfy a common high level mission specification. Each robot's motion in the …

Signal Temporal Logic (STL) is a rigorous specification language that allows one to express
various spatio-temporal requirements and preferences. Its semantics (called robustness) …

This paper proposes a novel sampling-based motion planner, which integrates in Rapidly
exploring Random Tree star (RRT^ ⋆ RRT⋆) a database of pre-computed motion primitives …

Automatic motion planning has applications ranging from traditional robotics to computer-
aided design to computational biology and chemistry. While randomized planners, such as …

Path planning in robotics often requires finding high-quality solutions to continuously valued
and/or high-dimensional problems. These problems are challenging and most planning …

We present an efficient, anytime method for path planning in dynamic environments. Current
approaches to planning in such domains either assume that the environment is static and …