Motion and Path Planning


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.


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