Motion planning is a fundamental research area in robotics. Sampling-based methods offer
an efficient solution for what is otherwise a rather challenging dilemma of path planning …

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

This article is the first of a two-part series intended as an introduction to component-based
software engineering (CBSE) in robotics. In this tutorial, we regard a component as a piece …

Laboratory tasks are a powerful pedagogical strategy for develo** competences in
science and engineering degrees, making students understand in a practical way the …

Abstract Sampling-based, search-based, and optimization-based motion planners are just
some of the different approaches developed for motion planning problems. Given the wide …

Randomized planners, search-based planners, potential-field approaches and trajectory
optimization based motion planners are just some of the types of approaches that have been …

This paper describes a novel manoeuvre planning method to attenuate disturbances acting
on occupants of autonomous cars as a result of driving behaviour. New research findings …

A robot simulation engine can be a powerful tool for decreasing development time for robot
control systems provided it captures the features of robot-environment interactions relevant …

A method for x-ray image-guided robotic instrument positioning is reported and evaluated in
preclinical studies of spinal pedicle screw placement with the aim of improving delivery of …

In this deliverable we present first year's results from Work Package 3 (Best Practice Robot
Algorithms) of the European research project BRICS. Therein we aim to develop a …