Motion planning is a fundamental problem in autonomous robotics that requires finding a
path to a specified goal that avoids obstacles and takes into account a robot's limitations and …

Planning smooth and energy-efficient paths for wheeled mobile robots is a central task for
applications ranging from autonomous driving to service and intralogistic robotics. Over the …

A mobile robot needs to be aware of its environment to interact with it safely. We propose a
receding horizon control scheme for mobile manipulators that tracks task space reference …

Regras** a suture needle is an important yet time-consuming process in suturing. To
bring efficiency into regras**, prior work either designs a task-specific mechanism or …

Recently, bio-inspired algorithms have been increasingly explored for autonomous robot
path planning on grid-based maps. However, these approaches endure performance …

Optimal motion planning is one of the most critical problems in mobile robotics. On the one
hand, classical sampling-based methods propose asymptotically optimal solutions to this …

Motion planning is a mature area of research in robotics with many well-established
methods based on optimization or sampling the state space, suitable for solving kinematic …

Practical applications favor anytime asymptotically-optimal algorithms that find a feasible
solution and improve it toward the optimal solution within limited time. This paper proposed …

Inspection planning, the task of planning motions that allow a robot to inspect a set of points
of interest, has applications in domains such as industrial, field, and medical robotics …

This article introduces a secure tunnel fast marching tree motion planning algorithm (ST-
FMT*) to provide a secure and optimal path quickly for a mobile robot. The proposed ST …