Robotic construction assembly planning aims to find feasible assembly sequences as well
as the corresponding robot-paths and can be seen as a special case of task and motion …

Time-optimal path parameterization (TOPP) is a well-studied problem in robotics and has a
wide range of applications. There are two main families of methods to address TOPP …

We propose a method for checking and enforcing multicontact stability based on the zero-
tilting moment point (ZMP). The key to our development is the generalization of ZMP support …

In this paper, a multilevel humanlike motion planning approach is proposed for indoor
mobile robots. Compared with existing approaches, the novelty of this paper is twofold: 1) …

Time optimality and completeness are desired properties for robot trajectory planning, which
ensure that robotic systems work reliably and efficiently. However, there is great difficulty to …

We present a motion planner for planning through space-time with dynamic obstacles,
velocity constraints, and unknown arrival time. Our algorithm, Space-Time RRT*(ST-RRT*) …

The time-optimal trajectory planning problem involves minimizing the time required to follow
a path defined in space, subject to kinematic and dynamic constraints. Here, we introduce a …

The classical problem setup of iterative learning control (ILC) is to enforce tracking of a
reference profile specified at all time points in the fixed task duration. The removal of the time …

In this article, a novel real-time acceleration-continuous path-constrained trajectory planning
algorithm is proposed with an appealing built-in tradeoff mechanism between the cruise …

High-dimensional motion planning problems can often be solved significantly faster by using
multilevel abstractions. While there are various ways to formally capture multilevel …