Optimal sampling based motion planning and trajectory optimization are two competing
frameworks to generate optimal motion plans. Both frameworks have complementary …

Robot motion planning is one of the important elements in robotics. In environments full of
obstacles, it is always challenging to find a collision-free and dynamically-feasible path …

We present an evaluation of several representative sampling-based and optimization-based
motion planners, and then introduce an integrated motion planning system which …

This paper presents a hybrid robot motion planner that generates long-horizon motion plans
for robot navigation in environments with obstacles. We propose a hybrid planner, RRT* with …

This paper introduces conflict resolution in task-constrained real-time adaptive motion
planning (RAMP) to enable a robot manipulator performing tasks in an environment with …

The quality of a path generated from an automated motion planning algorithm is of
considerable importance, particularly when used in a real world robotic application. In this …

The quest for efficient and safe trajectory planning in robotic manipulation poses significant
challenges, particularly in complex obstacle environments where the risk of encountering …

Currently, the optimization-based methods are widely adopted on humanoid robots and
other bipedal robots. However, using these methods to plan robot motions suffers from …

This article addresses selective compliance assembly robot arm (SCARA) robot path
planning using markers. Path planning requires the positions and orientations of goal points …

Industrial robots require precise trajectory planning for optimal performance, particularly
when planning in Cartesian space, which demands solving the complex inverse kinematics …