4 papers
Online Generation of Collision-Free Trajectories in Dynamic Environments
Nermin Covic, Bakir Lacevic
In this paper, we present an online method for converting an arbitrary geometric path, represented by a sequence of states, and generated by any planner (e.g., sampling-based plann…
Real-Time Sampling-Based Safe Motion Planning for Robotic Manipulators in Dynamic Environments
Nermin Covic, Bakir Lacevic, Dinko Osmankovic +1
In this paper, we present the main features of Dynamic Rapidly-exploring Generalized Bur Tree (DRGBT) algorithm, a sampling-based planner for dynamic environments. We provide a det…
Search-Based Robot Motion Planning With Distance-Based Adaptive Motion Primitives
Benjamin Kraljusic, Zlatan Ajanovic, Nermin Covic +1
This work proposes a motion planning algorithm for robotic manipulators that combines sampling-based and search-based planning methods. The core contribution of the proposed approa…
SLOPE: Search with Learned Optimal Pruning-based Expansion
Davor Bokan, Zlatan Ajanovic, Bakir Lacevic
Heuristic search is often used for motion planning and pathfinding problems, for finding the shortest path in a graph while also promising completeness and optimal efficiency. The…