Abstract— We present a path planning algorithm for a polyhedral robot with six degrees of freedom (6DOF) and a static obstacle. The planner consists of a dual-tree RRT algorithm ...
— In order to define an architecture for task and motion planning of a mobile robot, we propose the CellRRT path planner that combines the advantages of planning approaches by d...
Abstract— We present the Constrained Bi-directional RapidlyExploring Random Tree (CBiRRT) algorithm for planning paths in configuration spaces with multiple constraints. This al...
Dmitry Berenson, Siddhartha S. Srinivasa, Dave Fer...
— In this paper we develop an RRT-based motion planner that achieved bounding in simulation with the LittleDog robot over extremely rough terrain. LittleDog is a quadruped robot ...
Alexander C. Shkolnik, Michael Levashov, Ian R. Ma...
Abstract— Many planning approaches adhere to the twotiered architecture consisting of a long-range, low fidelity global planner and a short-range high fidelity local planner. W...