This paper presents a novel randomized motion planner for robots that must achieve a
specified goal under kinematic and/or dynamic motion constraints while avoiding collision …

This paper describes a new probabilistic roadmap (PRM) path planner that is:(1) single-
query—instead of pre-computing a roadmap covering the entire free space, it uses the two …

In this paper we study the quasi-static motion of large legged robots that have many degrees
of freedom. While gaited walking may suffice on easy ground, rough and steep terrain …

This paper describes the foundations and algorithms of a new probabilistic roadmap (PRM)
planner that is: single-query—instead of pre-computing a roadmap covering the entire free …

Deliberative capabilities are essential for intelligent aerial robotic applications in modern life
such as package delivery and surveillance. This paper presents a real-time 3D path …

We present a framework for studying protein folding pathways and potential landscapes
which is based on techniques recently developed in the robotics motion planning …

I. Introduction n this work we investigate dynamic planning for a team of autonomous
vehicles to cooperatively execute a set of tasks. Communication of the proposed solution …

In this paper, we investigate methods for motion planning for deformable robots. Our
framework is based on a probabilistic roadmap planner. As with traditional motion planning …

Flocking behavior is very common in nature, and there have been ongoing research efforts
to simulate such behavior in computer animations and robotics applications. Generally, such …

Over the last decade, the probabilistic road map method (PRM) has become one of the
dominant motion planning techniques. Due to its random nature, the resulting paths tend to …