From quadrotors delivering packages in urban areas to robot arms moving in confined
warehouses, motion planning around obstacles is a core challenge in modern robotics …

Computing optimal, collision-free trajectories for high-dimensional systems is a challenging
and important problem. Sampling-based planners struggle with the dimensionality, whereas …

We present a fast algorithm for the design of smooth paths (or trajectories) that are
constrained to lie in a collection of axis-aligned boxes. We consider the case where the …

Understanding the geometry of collision-free configuration space (C-free) in the presence of
Cartesian-space obstacles is an essential ingredient for collision-free motion planning …

Many computations in robotics can be dramatically accelerated if the robot configuration
space is described as a collection of simple sets. For example, recently developed motion …

This paper reports a novel result: with proper robot models based on geometric mechanics,
one can formulate the kinodynamic motion planning problems for rigid body systems as …

A hyper-redundant manipulator (HRM) can flexibly accomplish tasks in narrow spaces.
However, its excessive degrees of freedom pose challenges for path planning. In this letter …

Temporal logic is a concise way of specifying complex tasks. However, motion planning to
achieve temporal logic specifications is difficult, and existing methods struggle to scale to …

Sum-of-Squares Programming (SOSP) has recently been introduced to graphics as a unified
way to address a large set of difficult problems involving higher order primitives …

This paper reports a novel result: with proper robot models on matrix Lie groups, one can
formulate the kinodynamic motion planning problem for rigid body systems as\emph {exact} …