We present a new method for motion planning for control systems. The method aims to
provide a natural computational framework in which a broad class of motion planning …

We introduce the so-called Auxiliary Energy Reduction (AER) technique, which is a gradient-
based approach to solving motion planning problems with homotopy class constraints for …

This paper presents a novel stabilizing control design strategy for driftless control-affine
systems with an arbitrary degree of nonholonomy. The proposed approach combines a time …

The problem of motion planning for affine control systems consists of designing control
inputs that drive a system from a well-defined initial to final states in a desired amount of …

We propose a novel method for motion planning and illustrate its implementation on several
canonical examples. The core novel idea underlying the method is to define a metric for …

We address in this paper the problem of planning motion of free floating robot. Due to the
conservation of angular and linear momentum during the in-air motion, the problem is two …

We propose in this letter a motion planning method for legged robot locomotion based on
Geometric Heat Flow framework. The task is challenging due to the hybrid nature of …

We address in this paper the problem of planning motion of free floating robot with state
constraints. Due to the conservation of angular and linear momentum during the in-air …

The harmonic potential field of an incompressible nonviscous fluid governed by the
Laplace's Equation has shown its potential for being beneficial to autonomous unmanned …

Motion Planning is a fundamental problem in robotics that aims to find an optimal trajectory
for a system to move on while avoiding obstacles in the environment. Often, a feasible …