Minimal Path Violation Problem with Application to Fault Tolerant Motion Planning of Manipulators
Aakriti Upadhyay,Mukulika Ghosh,Chinwe Ekenna,Aakriti Upadhyay,Mukulika Ghosh,Chinwe Ekenna
Failure of any component in a robotic system during operation is a critical concern, and it is essential to address such incidents promptly. This work investigates a novel technique to recover from failures or changes in the configuration space while avoiding expensive re-computation or re-planning. We propose the Minimal Path Violation (MPV) concept to find the best feasible path with minimal re-...
