Motion planning is one of the most important areas of robotics research. The complexity of
the motion-planning problem has hindered the development of practical algorithms. This …

A bstract The omnidirectional drive is a popular challenging trend in today's mobile robotics
where different areas such as swarm, humanoid, legged, train-based, underwater, air flying …

In this paper, we present CHOMP (covariant Hamiltonian optimization for motion planning),
a method for trajectory optimization invariant to reparametrization. CHOMP uses functional …

A fundamental aspect of autonomous vehicle guidance is planning trajectories. Historically,
two fields have contributed to trajectory or motion planning methods: robotics and dynamics …

We propose a new approach to robot path planning that consists of building and searching a
graph connecting the local minima of a potential function defined over the robot's …

This paper concerns the construction of a class of scalar valued analytic maps on analytic
manifolds with boundary. These maps, which we term navigation functions, are constructed …

A method for planning smooth robot paths is presented. The method relies on the use of
Laplace's equation to constrain the generation of a potential function over regions of the …

The author describes a path planning technique for robotic manipulators and mobile robots
in the presence of stationary obstacles. The planning consists of applying potential fields …

Harmonic functions are solutions to Laplace's equation. Such functions can be used to
advantage for potential‐field path planning because they do not exhibit spurious local …

Electric vertical takeoff and landing vehicles are becoming promising for on-demand air
transportation in urban air mobility (UAM). However, successfully bringing such vehicles and …