… power for the robot, and its planning results are optimal and … the robot can select the best
and safest paths. The algorithm is easy to use and solves the problem of poor safety in robot …

… Robot motion planning involves finding an optimal path from the origin towards the … such
as safe distance from obstacles, and the path smoothness. In designing a mobile robot path, …

… safety of a mobile robot can be secured. With the aim of ensuring safe path planning of a
mobile robot, a safety … Algorithm 2 will find the safest and most optimal path by using a grid map …

… , the CBF algorithm’s reliance on local safety distance determination introduces a local
optimum problem, potentially compromising the global optimality of the robot-planned path. …

… Our proposed approach differs in that we aim for computing paths that are optimal with
respect to shortest time. Some other approaches use RRT-variants to plan quickly in higher-…

… and safety of the robot and takes the movement time of the robot as the objective function of
A* algorithm for path … and optimal path searching; this section illustrates these respectively. …

… tiple robots with pre-specified paths, considering motion safety … paths of the robots is
proposed. The repulsive potential energy is computed based on the distances between the robots …

… Given the desired path to be followed by the robot, first, an initial time-optimal trajectory, … A,
computes an optimal trajectory compliant with the safety limits, the robot actuation capabilities, …

… use the danger index to find an optimum safe path, however, only the end effector point
trajectory with respect to the human is considered. Herein, a safe path for the entire robot …

… In [30], mixed integer programming models are employed to encode the robot interactions. …
Contributions: We study the optimal MPP formulation allowing up to n robots on a n-vertex …