S∗ : On Safe and Time Efficient Robot Motion Planning

Riddhiman Laha, Wenxi Wu, Ruiai Sun, Nico Mansfeld, Luis F.C. Figueredo, and Sami Haddadin
Proceedings of 2023 International Conference on Robotics and Automation (ICRA)


As robots and humans increasingly share the same workspace, the development of safe motion plans becomes paramount. For real-world applications, nonetheless, it is critical that safety solutions are achieved without compromising performance. The computation of safe, time-efficient trajectories, however, usually requires rather complex often decoupled planning and optimization methods which degrades the nominal performance. In this work, instead, we cast the problem as a graph search-based scheme that enables us to solve the problem efficiently. The graph search is guided by an informed cost balance criterion. In this context we present the S∗ algorithm which minimizes the total planning time by equilibrising shortest time-efficient paths and paths with higher safe velocities. The approach is compatible with standards and validated both in rigorous simulation trials on a 6 DoF UR5 robot as well as real world experiments on a Franka Emika 7 DoF research robot.

  title={S$^\ast$ : On Safe and Time Efficient Robot Motion Planning},
  author={Riddhiman Laha AND Wenxi Wu AND Ruiai Sun AND Nico Mansfeld  AND Luis F.C. Figueredo AND Sami Haddadin},
  booktitle={2023 International Conference on Robotics and Automation (ICRA)},