# A Modular Framework for Motion Planning using Safe-by-Design Motion Primitives

arXiv: https://arxiv.org/abs/1905.00495 · HTML: https://mlsanity.com/paper/1905.00495/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 1 May 2019.

## Built on by (most cited first, 1 of 1)

- [The Design of a 3D Character Animation System for Digital Twins in the Metaverse](https://mlsanity.com/paper/2407.18934/) (2024)

## Abstract (arXiv)

We present a modular framework for solving a motion planning problem among a group of robots. The proposed framework utilizes a finite set of low level motion primitives to generate motions in a gridded workspace. The constraints on allowable sequences of motion primitives are formalized through a maneuver automaton. At the high level, a control policy determines which motion primitive is executed in each box of the gridded workspace. We state general conditions on motion primitives to obtain provably correct behavior so that a library of safe-by-design motion primitives can be designed. The overall framework yields a highly robust design by utilizing feedback strategies at both the low and high levels. We provide specific designs for motion primitives and control policies suitable for multi-robot motion planning; the modularity of our approach enables one to independently customize the designs of each of these components. Our approach is experimentally validated on a group of quadrocopters.