In this article, we study properties of local planners for nonholonomic dynamical systems to
achieve asymptotic global optimality in a sampling-based planner, namely, the RRT …

This paper investigates the connection between the kinematics of robots arms and the
shortest paths for mobile robots. Lagrange multipliers are used to show that the shortest …

Automated motion‐planning technologies for industrial robots are critical for their application
to Industry 4.0. Various sampling‐based methods have been studied to generate the …

This paper presents a generic numerical approach to find the kinematic time-optimal
trajectories for 3D rigid bodies with a finite set of translation, rotation, and screw controls, in …

Discrete graphs are commonly used to approximately represent configuration spaces used
in robot motion planning. This paper explores a representation in which the costs of crossing …

We study motion planning problems, finding trajectories that connect two configurations of a
system, from two different perspectives: optimality and survivability. For the problem of …

This paper presents a data structure that summarizes distances between configurations
across a robot configuration space, using a binary space partition whose cells contain …

This thesis explores two novel approaches to sample-based motion planning that utilize
regressions as continuous function approximations to reduce the memory cost of planning …

Automated underwater construction is a new research area, and an exciting one: water
allows robots to maneuver more freely, and to carry heavier construction materials, than they …