This paper explores the problem of collision-free motion generation for manipulators by
formulating it as a global motion optimization problem. We develop a parallel optimization …

The rapidly exploring random tree (RRT) algorithm has been one of the most prevalent and
popular motion-planning techniques for two decades now. Surprisingly, in spite of its …

The new paradigm of human-robot collaboration has led to the creation of shared work
environments in which humans and robots work in close contact with each other …

This work presents a motion planning algorithm for legged robots capable of constructing
long-horizon dynamic plans in real-time. Many existing methods use models that prohibit …

This paper explores the problem of collision-free motion generation for manipulators by
formulating it as a global motion optimization problem. We develop a parallel optimization …

RRTs are a popular method for kinodynamic planning that many consider to be
probabilistically complete. However, different variations of the RRT algorithm exist and not …

Humans use tools to complete impact-aware tasks, such as hammering a nail or playing
tennis. The postures adopted to use these tools can significantly influence the performance …

This paper presents the anticipative kinodynamic planning (AKP) approach for robot
navigation in urban environments, while satisfying both dynamic and nonholonomic …

The human-robot collaboration scenarios are characterized by the presence of human
operators and robots that work in close contact with each other. As a consequence, the …

In this work, multiple robots circulate around the boundary of a desired region in order to
create a virtual fence. The aim of the this fence is to avoid internal or external agents …