Motion and Path Planning

Overview

Motion planning is a fundamental problem in robotics. It may be stated as finding a path for a robot or agent, such that the robot or agent may move along this path from its initial configuration to goal configuration without colliding with any static obstacles or other robots or agents in the environment. Motion planning algorithms are used in many fields, including bioinformatics, character animation, computer-aided design and computer-aided manufacturing (CAD/CAM), industrial automation, robotic surgery, and single and multiple robot navigation in both two and three dimensions.

Publications

Single Robot or Agent

Project	Conference/Journal	Year
NeoNav: Improving the Generalization of Visual Navigation via Generating Next Expected Observations	AAAI	2020
Efficient Generation of Motion Plans from Attribute-Based Natural Language Instructions Using Dynamic Constraint Mapping	ICRA	2019
Fast Motion Planning for High-DOF Robot Systems Using Hierarchical System Identification	ICRA	2019
CrowdMove: Autonomous Mapless Navigation in Crowded Scenarios	ArXiv	2019
Getting Robots Unfrozen and Unlost in Dense Pedestrian Crowds	RA-L (ICRA)	2019
Safe Navigation with Human Instructions in Complex Scenes	ICRA	2019
Pedestrian Dominance Modeling for Socially-Aware Robot Navigation	ICRA	2019
Optimization-based Motion Planning in Dynamic Environments	Projects Collection	-
Safe Motion Planning for Human-Robot Interaction	IJRR	2018
An Efficient Acyclic Contact Planner for Multiped Robots	IEEE T-RO	2018
Realtime Planning for High-DOF Deformable Bodies using Two-Stage Learning	ICRA	2018
Intention-Aware Motion Planning Using Learning Based Human Motion Prediction	RSS	2017
Feedback Motion Planning for Liquid Pouring Using Supervised Learning	IROS	2017
Efficient Probabilistic Collision Detection for Non-Convex Shapes	ICRA	2017
Parallel Motion Planning Using Poisson-Disk Sampling	IEEE T-RO	2016
Motion Planning for Fluid Manipulation using Simplified Dynamics	IROS	2016
Efficient Configuration Space Construction and Optimization for Motion Planning	Engineering	2015
Parallel Cartesian Planning in Dynamic Environments using Constrained Trajectory Planning	Humanoids	2015
Faster Sample-based Motion Planning using Instance-based Learning	WAFR	2012
Collision-Free and Curvature Continuous Path Smoothing in Cluttered Environments	RSS	2011
Efficient Local Planning Using Connection Collision Query	WAFR	2010
Real-time Motion Planning and Global Navigation Using GPUs	Projects Collection	-
Constraint-based Motion Synthesis for Deformable Models	CASA	2008
Path Computation for Part Disassembly	CAD	2008
An Efficient Retraction-based RRT Planner	ICRA	2008
Complete Motion Planning	Projects Collection	-
Physics-based Motion Planning	Projects Collection	-
Practical Local Planning in the Contact Space	ICRA	2005
Constraint-Based Motion Planning of Deformable Robots	ICRA	2005
Path Planning for Deformable Robots	RSS	2005
Interactive Navigation Using Path Planning	I3D	2003
Constraint-Based Motion Planning for Virtual Prototyping	WAFR	2002
V-Plan: A Voronoi-Based Hybrid Motion Planner	IROS	2001
Randomized Path Planning	WAFR	2000
Motion Planning Using Generalized Voronoi Diagrams	Tec. Report	1999

Multiple Robots or Agents

Project	Conference/Journal	Year
Predicting Pedestrian Trajectories using Velocity-Space Reasoning	IJRR	2015
Smooth Navigation for Multiple Differential-drive Robots	SER	2012
Reciprocal Collision Avoidance with Acceleration-velocity Obstacles	ICRA	2011
Optimal Reciprocal Collision Avoidance	ISRR	2011
Navigating Multiple Simple-airplanes in 3D Workspace	ICRA	2010
The Hybrid Reciprocal Velocity Obstacle	ICRA	2009
Generalized Velocity Obstacles	IROS	2009
Multi-robot Coordination and Planning	ICRA	2009
Reciprocal Velocity Obstacles	ICRA	2008
Reactive Deforming Roadmaps	IROS	2007

Human-like Motion planning

Project	Conference/Journal	Year
Optimization-based Motion Planning in Dynamic Environments	Projects Collection	-
Human Motion Planning and Synthesis	Projects Collection	-
Smooth and Dynamically Stable Navigation of Multiple Human-Like Robots	WAFR	2014