Motion planning

Our research in motion planning is focused on high-dimensional systems like multi-robot systems or modular robots, kinodynamic systems and path planning in virtual environments (e.g. models of proteins). The goal is to develop fast methods that enable a real-time computation of paths or trajectories for robotic systems. Path planning methods are based on classical geometric solutions, while the path/motion planning for high-dimensional system is studied using sampling-based principles.

HedgeHog in the cage problem
 

 

 

Sampling-based methods like Probabilistic Roadmaps (PRM) or Rapidly Exploring Random Trees (RRT) can cope with high-dimensional systems with possible consideration of motion constraints, but their performance can decrease in environments with narrow passages. A possible solution is to guide the sampling of the configuration space using a path with lower dimension, e.g. using a path found in the workspace, which is realized in our RRT-Path method.


 

 

 

We utilize physical simulations to model motion of complex systems like terrain vehicles or self-reconfigurable modular robots and we integrate them into the motion planners.


 
 
 

 

Modular robots can move using self-reconfiguration or joint-control. In the concept of motion through self-reconfiguration, modules are unconnected, moved to a new position and connected back to the robot. Contrary, the joint-control locomotion is achieved by controlling joints connecting the modules and it can therefore be used even for systems without self-reconfiguration abilities. We develop methods for motion planning of modular robots based on a combination of locomotion generators and high-level motion planinng.

Contact:

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Selected publications:

  1. Vojtech Vonásek, Martin Saska, Lutz Winkler and Libor Preucil. High-level motion planning for CPG-driven modular robots. Robotics and Autonomous Systems 68(0):116 - 128, 2015. URL PDF BibTeX

    @article{Vonasek2015high,
    	title = "High-level motion planning for CPG-driven modular robots",
    	journal = "Robotics and Autonomous Systems",
    	volume = 68,
    	number = 0,
    	pages = "116 - 128",
    	year = 2015,
    	note = "",
    	issn = "0921-8890",
    	url = "http://www.sciencedirect.com/science/article/pii/S0921889015000147",
    	author = "Vojtech Vonásek and Martin Saska and Lutz Winkler and Libor Preucil",
    	keywords = "Central pattern generator",
    	pdf = "data/papers/rasmod2015modular.pdf"
    }
    
  2. V Vonasek and B Kozlikova. Tunnel detection in protein structures using sampling-based motion planning. In 2017 11th International Workshop on Robot Motion and Control (RoMoCo). July 2017, 185-192. PDF, DOI BibTeX

    @inproceedings{vonasek2017tunnel,
    	author = "V. Vonasek and B. Kozlikova",
    	booktitle = "2017 11th International Workshop on Robot Motion and Control (RoMoCo)",
    	title = "Tunnel detection in protein structures using sampling-based motion planning",
    	year = 2017,
    	pages = "185-192",
    	doi = "10.1109/RoMoCo.2017.8003911",
    	pdf = "data/papers/romoco2017_vonasek.pdf",
    	month = "July"
    }
    
  3. V Von\' asek and B Kozl\'ıková. Application of sampling-based path planning for tunnel detection in dynamic protein structures. In 2016 21st International Conference on Methods and Models in Automation and Robotics (MMAR). August 2016, 1010-1015. URL PDF, DOI BibTeX

    @inproceedings{vonasek2016application,
    	author = "Von{\' a}sek, V. and Kozl{\'\i}kov\'a, B.",
    	booktitle = "2016 21st International Conference on Methods and Models in Automation and Robotics (MMAR)",
    	title = "Application of sampling-based path planning for tunnel detection in dynamic protein structures",
    	year = 2016,
    	pages = "1010-1015",
    	keywords = "Atomic measurements;Cavity resonators;Collision avoidance;Probes;Proteins;Robots;Stability analysis",
    	doi = "10.1109/MMAR.2016.7575276",
    	month = "Aug",
    	pdf = "data/papers/mmar2016protein.pdf",
    	url = "http://ieeexplore.ieee.org/document/7575276/"
    }
    
  4. Axel Vick, Vojtech Vonasek, Robert Penicka and Jorg Kruger. Robot control as a service - Towards cloud-based motion planning and control for industrial robots. In Robot Motion and Control (RoMoCo), 2015 10th International Workshop on. July 2015, 33-39. URL PDF, DOI BibTeX

    @inproceedings{7219710,
    	author = "Vick, Axel and Vonasek, Vojtech and Penicka, Robert and Kruger, Jorg",
    	booktitle = "Robot Motion and Control (RoMoCo), 2015 10th International Workshop on",
    	title = "Robot control as a service - Towards cloud-based motion planning and control for industrial robots",
    	year = 2015,
    	pages = "33-39",
    	keywords = "Collision avoidance;Interpolation;Planning;Robot kinematics;Robot sensing systems;Service robots",
    	doi = "10.1109/RoMoCo.2015.7219710",
    	month = "July",
    	url = "http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7219710",
    	pdf = "data/papers/romoco2015-rcaas.pdf"
    }
    
  5. J Faigl, V Vonasek and L Preucil. Visiting Convex Regions in a Polygonal Map. Robotics and Autonomous Systems 61(10):1070–1083, October 2013. URL BibTeX

    @article{Faigl13:205385,
    	author = "Faigl, J. and Vonasek, V. and Preucil, L.",
    	title = "{Visiting Convex Regions in a Polygonal Map}",
    	journal = "Robotics and Autonomous Systems",
    	year = 2013,
    	volume = 61,
    	number = 10,
    	pages = "1070--1083",
    	month = "October",
    	issn = "0921-8890",
    	language = "English",
    	url = "http://www.sciencedirect.com/science/article/pii/S0921889012001455"
    }
    
  6. M Saska, T Krajnik, V Vonasek, Z Kasl, V Spurny and L Preucil. Fault-Tolerant Formation Driving Mechanism Designed for Heterogeneous MAVs-UGVs Groups. Journal of Intelligent and Robotic Systems 73(1-4):603–622, January 2014. URL PDF BibTeX

    @article{Saska14:212936,
    	author = "Saska, M. and Krajnik, T. and Vonasek, V. and Kasl, Z. and Spurny, V. and Preucil, L.",
    	title = "{Fault-Tolerant Formation Driving Mechanism Designed for Heterogeneous MAVs-UGVs Groups}",
    	journal = "Journal of Intelligent and Robotic Systems",
    	year = 2014,
    	volume = 73,
    	number = "1-4",
    	pages = "603--622",
    	month = "January",
    	issn = "0921-0296",
    	language = "English",
    	url = "http://link.springer.com/article/10.1007/s10846-013-9976-6",
    	pdf = "data/papers/JINT14_failure.pdf"
    }
    
  7. M Saska, J S Mejia, D M Stipanovic, V Vonasek, K Schilling and L Preucil. Control and Navigation in Manoeuvres of Formations of Unmanned Mobile Vehicles. European Journal of Control 19(2):157–171, March 2013. URL PDF BibTeX

    @article{Saska13:206004,
    	author = "Saska, M. and Mejia, J.S. and Stipanovic, D.M. and Vonasek, V. and Schilling, K. and Preucil, L.",
    	title = "{Control and Navigation in Manoeuvres of Formations of Unmanned Mobile Vehicles}",
    	journal = "European Journal of Control",
    	year = 2013,
    	volume = 19,
    	number = 2,
    	pages = "157--171",
    	month = "March",
    	issn = "0947-3580",
    	language = "English",
    	url = "http://www.sciencedirect.com/science/article/pii/S0947358013000204",
    	pdf = "data/papers/European_Journal_control2013.pdf"
    }
    
  8. M Saska, V Vonasek and L Preucil. Trajectory Planning and Control for Airport Snow Sweeping by Autonomous Formations of Ploughs. Journal of Intelligent and Robotic Systems 72(2):239–261, November 2013. URL PDF BibTeX

    @article{Saska13:210714,
    	author = "Saska, M. and Vonasek, V. and Preucil, L.",
    	title = "{Trajectory Planning and Control for Airport Snow Sweeping by Autonomous Formations of Ploughs}",
    	journal = "Journal of Intelligent and Robotic Systems",
    	year = 2013,
    	volume = 72,
    	number = 2,
    	pages = "239--261",
    	month = "November",
    	issn = "0921-0296",
    	language = "English",
    	url = "http://link.springer.com/article/10.1007\%2Fs10846-013-9829-3",
    	pdf = "data/papers/JINT2013_2leaders.pdf"
    }
    
  9. J Faigl, T Krajnik, V Vonasek and L Preucil. Surveillance Planning with Localization Uncertainty for UAVs. In 3rd Israeli Conference on Robotics,. 2010, –. URL BibTeX

    @inproceedings{Faigl10:171601,
    	author = "Faigl, J. and Krajnik, T. and Vonasek, V. and Preucil, L.",
    	title = "{Surveillance Planning with Localization Uncertainty for UAVs}",
    	booktitle = "{3rd Israeli Conference on Robotics,}",
    	publisher = "Ariel University Center",
    	address = "Ariel",
    	year = 2010,
    	pages = "--",
    	language = "English",
    	url = "http://www.icr2010.org.il/"
    }
    
  10. J Faigl, V Vonasek and L Preucil. A Multi-Goal Path Planning for Goal Regions in the Polygonal Domain. In Proceedings of the 5th European Conference on Mobile Robots. 2011, 171–176. BibTeX

    @inproceedings{Faigl11:182178,
    	author = "Faigl, J. and Vonasek, V. and Preucil, L.",
    	title = "{A Multi-Goal Path Planning for Goal Regions in the Polygonal Domain}",
    	booktitle = "{Proceedings of the 5th European Conference on Mobile Robots}",
    	publisher = "AASS Research Centre",
    	address = {{\" O}rebro},
    	year = 2011,
    	pages = "171--176",
    	language = "English"
    }
    
  11. V Vonasek, J Faigl, T Krajnik and L Preucil. A Sampling Schema for Rapidly Exploring Random Trees Using a Guiding Path. In Proceedings of the 5th European Conference on Mobile Robots. 2011, 201–206. PDF BibTeX

    @inproceedings{Vonasek11:182177,
    	author = "Vonasek, V. and Faigl, J. and Krajnik, T. and Preucil, L.",
    	title = "{A Sampling Schema for Rapidly Exploring Random Trees Using a Guiding Path}",
    	booktitle = "{Proceedings of the 5th European Conference on Mobile Robots}",
    	publisher = "AASS Research Centre",
    	address = {{\" O}rebro},
    	year = 2011,
    	pages = "201--206",
    	language = "English",
    	pdf = "data/papers/ecmr2011.pdf"
    }
    
  12. V Vonasek, J Faigl, T Krajnik and L Preucil. RRT-Path: a guided Rapidly exploring Random Tree. In Robot Motion and Control 2009. 2009, 307–316. PDF BibTeX

    @inproceedings{Vonasek09:158239,
    	author = "Vonasek, V. and Faigl, J. and Krajnik, T. and Preucil, L.",
    	title = "{RRT-Path: a guided Rapidly exploring Random Tree}",
    	booktitle = "{Robot Motion and Control 2009}",
    	publisher = "Springer",
    	address = "Heidelberg",
    	year = 2009,
    	pages = "307--316",
    	isbn = "978-1-84882-984-8",
    	issn = "0302-9743",
    	language = "English",
    	pdf = "data/papers/romoco2009rrtpath.pdf"
    }
    
  13. V Vonasek, K Kosnar and L Preucil. Motion Planning of Self-reconfigurable Modular Robots Using Rapidly Exploring Random Trees. In Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress. 2012, 279–290. PDF BibTeX

    @inproceedings{Vonasek12:194431,
    	author = "Vonasek, V. and Kosnar, K. and Preucil, L.",
    	title = "{Motion Planning of Self-reconfigurable Modular Robots Using Rapidly Exploring Random Trees}",
    	booktitle = "{Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress}",
    	publisher = "Springer",
    	address = "Dordrecht",
    	year = 2012,
    	pages = "279--290",
    	isbn = "978-3-642-32526-7",
    	issn = "0302-9743",
    	language = "English",
    	pdf = "data/papers/taros2012modular.pdf"
    }
    
  14. V Vonasek, M Saska and L Preucil. Motion Planning for a Cable Driven Parallel Multiple Manipulator Emulating a Swarm of MAVs. In ROBOT MOTION AND CONTROL 2013. 2013, 13–18. BibTeX

    @inproceedings{Vonasek13:206161,
    	author = "Vonasek, V. and Saska, M. and Preucil, L.",
    	title = "{Motion Planning for a Cable Driven Parallel Multiple Manipulator Emulating a Swarm of MAVs}",
    	booktitle = "{ROBOT MOTION AND CONTROL 2013}",
    	publisher = "IEEE Robotics and Automation Society",
    	address = "Pistacaway, NJ",
    	year = 2013,
    	pages = "13--18",
    	isbn = "978-1-4673-5511-7",
    	language = "English"
    }