Motion Planning
Motion Planning covers collision-free trajectory planning for mobile platforms as well as robot actuators. This subdomain corresponds to Part A, Chapter 5 in the Handbook of Robotics.
15 publications
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- 1990
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- 2005
- 2010
- 2015
Scenario Building
In the Scenario Building phase, environment features, constraints and characteristics are defined. Furthermore, the robot's task is defined. This includes the specification of customer acceptance tests to be performed in the specified and potentially generalized environment.
| Key | Title | Authors | Year | Formalism | Tool |
|---|---|---|---|---|---|
| finucane2010ltlmop | LTLMoP: Experimenting with language, temporal logic and robot controlIntelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on | Cameron Finucane, Gangyuan Jing, Hadas Kress-Gazit | 2010 | LTL | unknown |
| menghi2019Specification | Specification Patterns for Robotic MissionsTransactions on Software Engineering websitedownload | C. Menghi, C. Tsigkanos, P. Pelliccione, C. Ghezzi, T. Berger | 2019 | LTL/CTL |
Functional Design
In the Functional Design phase, hardware requirements and top-level functionalities are derived based on the scenario definition. Furthermore, top-level functionalities are decomposed and dependencies among them are identified. Also an initial functional design stating which functionalities interact with each other is developed.
| Key | Title | Authors | Year | Formalism | Tool |
|---|---|---|---|---|---|
| feniello2014program | Program synthesis by examples for object repositioning tasksIntelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on | Ashley Feniello, Hao Dang, Stan Birchfield | 2014 | unknown | none |
| finucane2010ltlmop | LTLMoP: Experimenting with language, temporal logic and robot controlIntelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on | Cameron Finucane, Gangyuan Jing, Hadas Kress-Gazit | 2010 | LTL | unknown |
| kanayama2000s | It's time to make mobile robots programmableRobotics and Automation, 2000. Proceedings. ICRA'00. IEEE International Conference on | Yutaka J Kanayama, C Thomas Wu | 2000 | unknown | |
| kress2007structured | From structured english to robot motionIntelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on | Hadas Kress-Gazit, Georgios E Fainekos, George J Pappas | 2007 | LTL | none |
Platform Building
In the Platform Building phase, the robot hardware is determined. This includes the selection and potential configuration of robot's sensors and actuators meeting the requirements defined in the functional design phase.
| Key | Title | Authors | Year | Formalism | Tool |
|---|---|---|---|---|---|
| schneider2014declarative | Declarative specification of task-based grasping with constraint validationIntelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on | Sven Schneider, Nico Hochgeschwender, Gerhard K Kraetzschmar | 2014 | ecore | xtext |
Capability Building
In the Capability Building phase, basic and composite components are constructed up to the application-level and constraints for their deployment are specified. This also includes the specification and eventually generation of additional knowledge required for component execution such as knowledge bases and training data.
| Key | Title | Authors | Year | Formalism | Tool |
|---|---|---|---|---|---|
| Araiza-Illan2016 | Intelligent Agent-Based Stimulation for Testing Robotic Software in Human-Robot Interactions | Dejanira Araiza-Illan, Anthony G. Pipe, Kerstin Eder | 2016 | unknown | none |
| dantam2011motion | The motion grammar for physical human-robot gamesRobotics and Automation (ICRA), 2011 IEEE International Conference on | Neil Dantam, P Koine, Mike Stilman | 2011 | other | unknown |
| dantam2012linguistic | Linguistic transfer of human assembly tasks to robotsIntelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on | Neil Dantam, Irfan Essa, Mike Stilman | 2012 | (E)BNF | unknown |
| dantam2013correct | Correct Software Synthesis for Stable Speed-Controlled Robotic Walking.Robotics: Science and Systems | Neil Dantam, Ayonga Hereid, Aaron D Ames, Mike Stilman | 2013 | CFG? | none |
| feniello2014program | Program synthesis by examples for object repositioning tasksIntelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on | Ashley Feniello, Hao Dang, Stan Birchfield | 2014 | unknown | none |
| finucane2010ltlmop | LTLMoP: Experimenting with language, temporal logic and robot controlIntelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on | Cameron Finucane, Gangyuan Jing, Hadas Kress-Gazit | 2010 | LTL | unknown |
| hsieh2007adaptive | Adaptive teams of autonomous aerial and ground robots for situational awarenessJournal of Field Robotics | M Ani Hsieh, Anthony Cowley, James F Keller, Luiz Chaimowicz, Ben Grocholsky, Vijay Kumar, Camillo J Taylor, Yoichiro Endo, Ronald C Arkin, Boyoon Jung, et al. | 2007 | unknown | |
| kanayama2000s | It's time to make mobile robots programmableRobotics and Automation, 2000. Proceedings. ICRA'00. IEEE International Conference on | Yutaka J Kanayama, C Thomas Wu | 2000 | unknown | |
| kress2007structured | From structured english to robot motionIntelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on | Hadas Kress-Gazit, Georgios E Fainekos, George J Pappas | 2007 | LTL | none |
| mackenzie1995specification | Specification and execution of multiagent missionsIntelligent Robots and Systems 95.'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on | Douglas C MacKenzie, Jonathan M Cameron, Ronald C Arkin | 1995 | unknown | MissionLab |
| mosemann2001automatic | Automatic decomposition of planned assembly sequences into skill primitivesRobotics and Automation, IEEE Transactions on | Heiko Mosemann, Friedrich M Wahl | 2001 | other | unknown |
| rugg1994formal | A formal semantics for multiple vehicle task and motion planningRobotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on | Neil Rugg-Gunn, Stephen Cameron | 1994 | other | |
| schneider2014declarative | Declarative specification of task-based grasping with constraint validationIntelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on | Sven Schneider, Nico Hochgeschwender, Gerhard K Kraetzschmar | 2014 | ecore | xtext |
| zhang2003control | Control of small formations using shape coordinatesRobotics and Automation, 2003. Proceedings. ICRA'03. IEEE International Conference on | Fumin Zhang, Michael Goldgeier, Perinkulam S Krishnaprasad | 2003 | SDD | MDLe engine |
Product Maintenance
In the Product Maintenance phase, the robot application is operated and maintained. This includes eventually the analysis of log files and the tuning of system parameters.
| Key | Title | Authors | Year | Formalism | Tool |
|---|---|---|---|---|---|
| dantam2011motion | The motion grammar for physical human-robot gamesRobotics and Automation (ICRA), 2011 IEEE International Conference on | Neil Dantam, P Koine, Mike Stilman | 2011 | other | unknown |