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8 votes

Motion Planning vs. Control

There is a saying in software engineering which states that your company structure is reflected in your software architecture (I cannot recall the exact phrase). This is true for a robot control ...
50k4's user avatar
  • 6,682
5 votes

A* search results in path too close to obstacles

Obstacle padding/ robot padding. Suppose you are working in a 2D environment and that you have an obstacle of the size 2x2. When doing planning (graph search, etc.), you increase the size of the ...
Petch Puttichai's user avatar
4 votes
Accepted

Understanding and implementing belief space planning

The kalman filter that you've already been using on single robots can be broadened to apply to the swarm of robots. If you previously represented the state of a single robot with 5 variables, and you ...
Eric Lavigne's user avatar
3 votes

Applications of Reinforcement Learning

It's true that using RL in robotics involves many challenges, including the usually high dimensionality of problem spaces, the cost and limitations of real-world sessions, the impossibility or ...
xperroni's user avatar
  • 1,363
3 votes

Motion Planning vs. Control

I can speak to space robotics, and military-type robotics, and some commercial robots, but there isn't really a "typical" robot yet. How does motion planning differ from controls? A drunk ...
Josh Vander Hook's user avatar
3 votes
Accepted

What does it actually mean by Task Planning?

I think what you are seeing here is a decade advancement in microprocessor and robotic control technologies. By the time the second and third papers were written, in 2000 & 1998, the definition ...
Mark Booth's user avatar
  • 4,263
3 votes

A* search results in path too close to obstacles

Most planning algorithms reduce your robot to a point and plan a path for that point. The arising problem is exaclty what you are facing. As suggested before, obstacle padding is one of the methods, ...
50k4's user avatar
  • 6,682
2 votes
Accepted

What is the best way to compute the probabilistic belief of a robot equipped with a vision sensor?

Use bearings-only localization to model camera informativeness, and simulate measurements with zero noise (e.g., no innovation). For a variety of reasons, this is actually theoretically sound way of ...
Josh Vander Hook's user avatar
2 votes

why is quadrotor motion planning hard?

The main problem with motion planning is the time-dimension. Not only that the UAV can move up, down, forward or backward, but the motion is also defined along the time-axis. A motion plan like "up, ...
Manuel Rodriguez's user avatar
2 votes

Difference between Single-Query and Multiple Query Algorithms?

I think what you said in your question is correct so far. Single and multi query planning refers to the number of planning tasks you are about to execute. That means, the number of different paths ...
cpetersmeier's user avatar
2 votes

How to use depth map in A* path planning?

I would recommend using some sort of discretized local map. For 3D use octomap (https://octomap.github.io/) and 2D a grid map. But honestly, I would try the laziest option, putting each depth reading ...
Akindart's user avatar
  • 129
1 vote

How to plan several motions without execution with moveit?

In both ros1 and ros2, the RobotState class has setJointPositions() methods. It seems like it does exactly what you are asking ...
Mike973's user avatar
  • 946
1 vote

Ros2: OccupancyGrid with RPlidar

You're combining two seperate problems here. The first is creating an occupancy grid, the second is getting data from the RPlidar. Remember, one of the main reasons we use ROS is because it allows us ...
cst0's user avatar
  • 888
1 vote
Accepted

Best way to generate a configuration space for a 6 DOF robot

A good start here might be the RRT algorithm (https://en.wikipedia.org/wiki/Rapidly-exploring_random_tree) or one of its many, many variations. Let's assume you're doing this in the configuration ...
domo_arigato's user avatar
1 vote

Matlab smooth transition between stored configurations (rigid body tree robot )

I don't know how you're storing or recalling your presets, but you can put a Rate Limiter block between it and your joint and limit how quickly your joint reference changes. I made a short clip for ...
Chuck's user avatar
  • 16k
1 vote

Path planning algorithm better than RRT* and Artificial Potential Field

My understanding is that most people don't use the raw RRT solution directly. First they smooth it. A google search will yield many papers on this. For example: Improved Path-Finding Algorithm for ...
Ben's user avatar
  • 5,865
1 vote

Motion Planning vs. Control

I would answer your first question. I would say motion planning can be treated as a higher-level control. You can think about motion planning problems as a subclass of optimal control problems (OCP). ...
Song's user avatar
  • 21
1 vote

Path Planning algorithm

shortest path between 2 points This spec goes into the cost function design. maintain a minimum distance to obstacles Given 2D occupancy grid, threshold probability values to get ...
Octavius's user avatar
  • 377
1 vote
Accepted

Task oriented robot language?

In contrast to motion planning, task planning operates on a symbolic higher level. Often, it's connected to natural language descriptions like “open door” and “stand-up”. This makes it a natural ...
Manuel Rodriguez's user avatar
1 vote

What are robot task planners?

Task and motion planning describes different levels of abstraction in a domain. Motion planning is about lowlevel actions for example move the car forward for 1 meter, while task planning is about ...
Manuel Rodriguez's user avatar
1 vote
Accepted

Are there any open-source congnative planing frameworks for robotics?

KnowRob is a knowledge processing system that combines knowledge representation and reasoning methods with techniques for acquiring knowledge and for grounding the knowledge in a physical system and ...
50k4's user avatar
  • 6,682
1 vote

Are there any open-source congnative planing frameworks for robotics?

Have a look at ROS. They have motion planning packages. Sorry I can't provide more detail at this time, but I know ROS packages exist... and they are open source. This is a good question for their ...
Mike's user avatar
  • 361
1 vote
Accepted

A* algorithm for Arduino robot path planning

You may find this example useful. I recently used A* for highway driving in traffic, driving at 50 mph and passing other cars. https://github.com/ericlavigne/CarND-Path-Planning The A* algorithm ...
Eric Lavigne's user avatar

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