Recent years have shown a large increase in applications and research of problems that
include moving a fleet of physical robots. One particular application that is currently a multi …

Inspection planning, the task of planning motions that allow a robot to inspect a set of points
of interest, has applications in domains such as industrial, field, and medical robotics …

Robots operating in the real world encounter substantial uncertainty that cannot be modeled
deterministically before the actual execution. This gives rise to the necessity of robust motion …

Inspection planning, the task of planning motions for a robot that enable it to inspect a set of
points of interest, has applications in domains such as industrial, field, and medical robotics …

We consider the problem of planning a collision-free path for a high-dimensional robot.
Specifically, we suggest a planning framework where a motion-planning algorithm can …

Search-based planning for relatively low-dimensional motion-planning problems such as for
autonomous navigation and autonomous flight has been shown to be very successful. Such …

Planning the motion for humanoid robots is a computationally-complex task due to the high
dimensionality of the system. Thus, a common approach is to first plan in the low …

In this work we tackle the path planning problem for a 21-dimensional snake robot-like
manipulator, navigating a cluttered gas turbine for the purposes of inspection. Heuristic …

Conventional local planners frequently become trapped in a locally optimal trajectory,
primarily due to their inability to traverse obstacles. Having a larger number of topologically …

In this work, an efficient homology guided belief space planning method for obstacle-
cluttered environments is presented. The proposed planner follows a two-step approach …