3 accepted papers
This paper addresses local path re-planning for n-dimensional systems by introducing an informed sampling scheme and cost function to achieve collision avoidance with minimum deviation from an (optimal) nominal path. The proposed informed subset consists of the union of ellipsoids along the specifie…
The paper proposes novel sampling strategies to compute the optimal path alteration of a surface vessel sailing in close quarters. Such strategy directly encodes the rules for safe navigation at sea, by exploiting the concept of minimal ship domain to determine the compliant region where the path de…
This paper investigates self-reconfiguration of a modular robotic system, which consists of a cluster of modular vehicles that can attach to each other by a connection mechanism. Thereby, they can form a desired morphology to meet task specific requirements. Reconfiguration can be needed due to limi…