Open AccessProceedings Article
Complexity of the Mover's Problem and Generalizations Extended Abstract
John H. Reif
- pp 421-427
TLDR
This paper concerns the problem of moving a polyhedron through Euclidean space while avoiding polyhedral obstacles.About:
This article is published in Foundations of Computer Science.The article was published on 1979-01-01 and is currently open access. It has received 803 citations till now.read more
Citations
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MonographDOI
Planning Algorithms: Introductory Material
TL;DR: This coherent and comprehensive book unifies material from several sources, including robotics, control theory, artificial intelligence, and algorithms, into planning under differential constraints that arise when automating the motions of virtually any mechanical system.
Proceedings ArticleDOI
RRT-connect: An efficient approach to single-query path planning
TL;DR: A simple and efficient randomized algorithm is presented for solving single-query path planning problems in high-dimensional configuration spaces by incrementally building two rapidly-exploring random trees rooted at the start and the goal configurations.
Journal ArticleDOI
Randomized kinodynamic planning
TL;DR: In this paper, the authors presented the first randomized approach to kinodynamic planning (also known as trajectory planning or trajectory design), where the task is to determine control inputs to drive a robot from an unknown position to an unknown target.
Posted Content
Sampling-based Algorithms for Optimal Motion Planning
Sertac Karaman,Emilio Frazzoli +1 more
TL;DR: The main contribution of the paper is the introduction of new algorithms, namely, PRM and RRT*, which are provably asymptotically optimal, i.e. such that the cost of the returned solution converges almost surely to the optimum.
Book
Real Algebraic Geometry
TL;DR: The Tarski-Seidenberg Principle as a Transfer Tool for Real Algebraic Geometry as mentioned in this paper is a transfer tool for real algebraic geometry, and it can be used to solve the Hilbert's 17th Problem.
References
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Journal ArticleDOI
An algorithm for planning collision-free paths among polyhedral obstacles
TL;DR: A collision avoidance algorithm for planning a safe path for a polyhedral object moving among known polyhedral objects that transforms the obstacles so that they represent the locus of forbidden positions for an arbitrary reference point on the moving object.
Journal ArticleDOI
Relationships between nondeterministic and deterministic tape complexities
TL;DR: The amount of storage needed to simulate a nondeterministic tape bounded Turingmachine on a deterministic Turing machine is investigated and a specific set is produced, namely the set of all codings of threadable mazes, such that, if there is any set which distinguishes nondeter microscopic complexity classes from deterministic tape complexity classes, then this is one such set.
ReportDOI
A mobius automation: an application of artificial intelligence techniques
TL;DR: The main theme of the research is the integration of the necessary planning systems, models of the world, and sensory processing systems into an efficient whole capable of performing a wide range of tasks in a real environment.
ReportDOI
Modelling, trajectory calculation and servoing of a computer controlled arm
TL;DR: In modelling the author uses a symbolic data structure to represent objects in the environment and a planning program interprets symbolic arm control instructions and generates a plan consisting of arm motions and hand actions.
Book
Collision detection and avoidance in computer controlled manipulators
TL;DR: It is shown how the principles of hierarchical decomposition can be used to reduce the complexity of the manipulator trajectory planning problem and how it is possible to decompose the planning task so as to get the best of both cartesian space and joint space representations, and yet avoid the constant conversion overhead problem.