Robot planning and re-planning using decomposition, abstraction, deduction, and prediction

Vendrell, Eduardo; Mellado, Martin; Crespo, Alfons

doi:10.1016/s0952-1976(01)00027-6

Cited by 14 publications

(6 citation statements)

References 28 publications

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“…There are two ways to deal with complicated end-effector constraints. One is to explore the equations of end-effector constraints as in Equation (1). The other is to fit complex end-effector motions by linear and circular motions.…”

Section: Discussionmentioning

confidence: 99%

“…First of all, the corresponding Cartesian paths meet the end-effector constraints defined in Equation (1). In Cartesian space, the end-effector moves the shortest paths that are usually not linear paths.…”

Section: Predictable Trajectory Planning With End-effector Constraintsmentioning

confidence: 99%

“…Trajectory prediction can be classified into two kinds: trajectory prediction for future time and trajectory prediction for future tasks. Future actions have been predicted for obstacle avoiding and trajectory re-planning [1,2]. Appropriate trajectories for future tasks have been predicted by using machine learning [3,4].…”

Section: Introductionmentioning

confidence: 99%

“…Generally, there are three questions. (1) The motions of the end-effector between via points are not predictable in trajectory planning with end-effector constraints. (2) There is no guarantee that the end-effector will track the assigned paths in trajectory planning with joint constraints.…”

Section: Introductionmentioning

confidence: 99%

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Predictable Trajectory Planning of Industrial Robots with Constraints

Chen

2018

Applied Sciences

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Trajectory prediction is currently attracting considerable attention. This paper proposes geodesic trajectory planning with end-effector and joint constraints to predict the trajectory properties of the end-effector, such as velocities, accelerations, and smoothness. The prediction of the trajectory properties is independent of the joint trajectories. The prediction makes it possible to adjust the trajectory properties in line with a light computational burden. To demonstrate the effectiveness of the proposed method, experiments were conducted using the Efort robot. The experiments show that the proposed method can predict the properties of the trajectory and modify the trajectory to meet the constraints.

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Section: Discussionmentioning

confidence: 99%

Section: Predictable Trajectory Planning With End-effector Constraintsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Predictable Trajectory Planning of Industrial Robots with Constraints

Chen

2018

Applied Sciences

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“…Figure shows the path for a synthetic scenario. If the environment has static sensors and computing devices, which monitor the change in environment (excluding dynamic and small obstacles) at some low frequency, and there exists some mechanism to inform the same to the robot, the search performed may be repeated at every change informed . The immediate position may be used as the source.…”

Section: Algorithmmentioning

confidence: 99%

Navigating Multiple Mobile Robots without Direct Communication

Kala

2014

Int. J. Intell. Syst.

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A bulk of research is being done for the autonomous navigation of a mobile robot. Multirobot motion planning techniques often assume a direct communication among the robots, which makes them practically unusable. Similarly, approaches assuming the robot moving amid humans assume cooperation of humans, which may not be the case if the human is replaced by a robot. In this paper, a deliberative planning at the higher level with a new cell decomposition technique is presented, along with a reactive planning technique at the finer level, which uses fuzzy logic. Coordination among the robots in the absence of direct communication and knowledge of other robot's intent is a complex research question, which is solved using a simple fuzzy-based modeling. Experimental results show that the multiple robots maintain comfortable distances from the obstacles, navigate by near optimal paths, can easily escape previously unseen obstacles, and coordinate with each other to avoid collision as well as maintain a large separation. This work displays a simple and easy to interpret system for solving complex coordination problem in multirobotics. C 2014 Wiley Periodicals, Inc.

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Hybrid rule-based motion planner for mobile robot in cluttered workspace

Abbadi

Matoušek

2016

Soft Comput

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Robot planning and re-planning using decomposition, abstraction, deduction, and prediction

Cited by 14 publications

References 28 publications

Predictable Trajectory Planning of Industrial Robots with Constraints

Predictable Trajectory Planning of Industrial Robots with Constraints

Navigating Multiple Mobile Robots without Direct Communication

Hybrid rule-based motion planner for mobile robot in cluttered workspace

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