Etienne Ferré, Jean-paul Laumond, Gustavo Arechavaleta, Claudia Estevès, E. Ferré, J. P. Laumond, ...
Abstract: Part assembly path planning consists in computing automatically a collision-free path for the part between a disassembled position and an assembled one. The part is first considered as a...
Etienne Ferré, Jean-paul Laumond, Gustavo Arechavaleta, Claudia Estevès, E. Ferré, J. P. Laumond, ...
Abstract: Part assembly path planning consists in computing automatically a collision-free path for the part between a disassembled position and an assembled one. The part is first considered as a...
P. K. Agarwal, R. Motwani, R. Alami, J. P. Laumond, T. Siméon, ...
H. Arai and O. Khatib. Experiments with dynamic skills. In 1994 Japan-USA Symposium
R. Murrieta-cid, L. Muñoz-gomez, A. Sarmiento, S. Kloder, F. Lamiraux, ...
In this paper we consider the problem of maintaining surveillance of a moving the target by a nonholonomic mobile observer. The observer's goal is to maintain visibility of the target from a...
to steer nonholonomic mobile robots (2007)
Computing good holonomic collision-free paths
Planning Human Walk in Virtual Environments (2007)
J. Pettre, T. Simeon, J. P. Laumond
This paper presents a method for animating human characters, especially dedicated to walk planning problems. The method is integrated in a randomized motion planning scheme, including a steering...
Trailer-truck trajectory optimization for airbus A380 component transportation (2004)
F. Lamiraux, J. P. Laumond, C. Vangeem, Kineo Cam, D. Boutonnet Airbus, G. Raust Dre
1
Trailer-truck trajectory optimization for airbus A380 component transportation (2004)
F. Lamiraux, J. P. Laumond, C. Vangeem, Kineo Cam, D. Boutonnet Airbus, G. Raust Dre
1
A manipulation planner for pick and place operations under continuous grasps and placements (2002)
J. Cortes, A. Sahbani, J. P. Laumond
This paper addresses the manipulation planning problem which deals with motion planning for robots manipulating movable objects among static obstacles. Motion planning in this context appears as a...
A Manipulation Planner for Pick and Place Operations under Continuous Grasps and Placements (2002)
T. Siméon, J. Cortés, A. Sahbani, J. P. Laumond
This paper addresses the manipulation planning problem which deals with motion planning for robots manipulating movable objects among static obstacles. We propose a manipulation planner capable of...
A Random Loop Generator for Planning the Motions of Closed Kinematic Chains Using PRM Methods (2001)
J. Cortes, T. Simeon, J. P. Laumond
Closed kinematic chains in mechanical systems represent a challenge for their motion analysis, and therefore, for path planning. Closed mechanisms appear in dierent areas where path planning...
Notes on Visibility Roadmaps and Path Planning (2000)
This paper overviews the probabilistic roadmap approaches to path planning whose surprising practical performances attract today an increasing interest. We first comment on the configuration space...
Shortest Paths to Obstacles for a Polygonal Car-Like Robot (1999)
M. Vendittelli, J.P. Laumond, P. Souères
This paper shows how to compute the nonholonomic distance between a car-like robot of polygonal shape and polygonal obstacles. Adopting an optimal control point of view, we use transversality...
Obstacle Distance for Car-Like Robots (1999)
M. Vendittelli, J. P. Laumond, C. Nissoux
This paper shows how to compute the nonholonomic distance between a point-wise car-like robot and polygonal obstacles. Geometric constructions to compute the shortest paths from a configuration...
Multiple Path Coordination for Mobile Robots: A Geometric Algorithm (1999)
S. Leroy, J. P. Laumond, T. Simeon
This paper presents a geometric based approach for multiple mobile robot motion coordination. All the robot paths being computed independently, we address the problem of coordinating the motion of...
Guidelines in nonholonomic motion planning for mobile robots (1998)
J. P. Laumond, S. Sekhavat, F. Lamiraux, J. P. Laumond, S. Sekhavat, ...
Mobile robots did not wait to know that they were nonholonomic to plan and execute their motions autonomously. It is interesting to notice that the first navigation systems have been published in the...
Obstacle Distances and Visibility for Car-Like Robots Moving Forward (1998)
J. P. Laumond, C. Nissoux, M. Vendittelli, Theta S
This paper deals with distance computation between a car-like robot moving only forward and polygonal obstacles. We propose efficient geometric algorithms to compute the shortest paths to obstacles....
Nilpotent Approximation Of Nonholonomic Systems With Singularities: A Case Study (1998)
M. Vendittelli, J. P. Laumond, G. Oriolo
: Existing methods for nonholonomic motion planning can be applied to exactly nilpotentizable or flat systems. However, some nonholonomic systems do not fall into this class. For these, it is...
A Collision Checker for Car-Like Robots Coordination (1998)
T. Siméon, S. Leroy, J. P. Laumond
: This paper presents a geometric algorithm dealing with collision checking in the framework of multiple mobile robot coordination. We consider that several mobile robots have planned their own...
We propose a local motion planner for a mobile robot pulling n trailers. This planner verifies a topological property so that it is suitable for different global motion planning schemes including...
Motion Planning and Control for Hilare Pulling a Trailer (1997)
Lamiraux Sekhavat And, F. Lamiraux, S. Sekhavat, J. P. Laumond
This paper 0 deals with motion planning and control for mobile robots. The various components of an integrated architecture for the mobile robot Hilare pulling a trailer are presented. The...
Motion Planning and Control for Hilare Pulling a Trailer (1997)
F. Lamiraux, S. Sekhavat, J. P. Laumond, Member Ieee
This paper deals with motion planning and control for mobile robots. The various components of an integrated architecture for the mobile robot Hilare pulling a trailer are presented. The nonholonomic...
Motion planning and control for Hilare pulling a trailer: experimental issues (1997)
Sekhavat Lamiraux, S. Sekhavat, F. Lamiraux, J. P. Laumond, G. Bauzil, A. Ferr
: This paper describes a real experiment in nonholonomic motion planning and control. It was performed on the mobile robot Hilare-2-bis pulling a trailer. 1 Introduction Nonholonomic robot motion...
Computing Good Holonomic Collision-Free Paths to Steer Nonholonomic Mobile Robots (1997)
T. Siméon, S. Leroy, J. P. Laumond
: Several schemes have been proposed in the path planning-literature to plan collision-free and feasible trajectories for non-holonomic mobile robots. A classical scheme is the two-step approach...
On the Expected Complexity of Random Path Planning (1996)
This paper gives an account of the convergence property of potential field based path planning algorithms that use random motions to escape local minima [1]. Their probabilistic convergence is proved...
Stabilization of trajectories for systems with nonholonomic constraints (1994)
Walsh, G., Tilbury, D., Sastry, S., Murray, R., Laumond, J. P.
A new technique for stabilizing nonholonomic systems to trajectories is presented. It is well known that such systems cannot be stabilized to a point using smooth static-state feedback. In this note,...
Stabilization of Trajectories for Systems with Nonholonomic Constraints (1994)
G. Walsh, Walsh Tilbury, S. Sastry, R. Murray, J. P. Laumond
A new technique for stabilizing nonholonomic systems to trajectories is presented. It is well known (see [2]) that such systems cannot be stabilized to a point using smooth-static state feedback. In...