Real-Time Motion Planning for Complex Robotic Tasks

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Robots are moving beyond the factory floor and into warehouses, private homes, commercial workplaces, hospitals, and the outdoors. This transition is being driven by rapid advances in robot technology. We are reaching a point where ground vehicles and aerial drones can be purchased at low cost. In addition, when the robot environment is known beforehand, capable algorithms exist for planning motion to perform complex tasks. However, real-world environments evolve in unpredictable ways. Humans may be moving in the environment, locations of obstacles may be unknown, and robots may not even be certain of their exact location. Such environments pose significant challenges. Robots can no longer fully plan their motion in advance, and they must react to environmental changes safely and in real-time.