Open AccessProceedings Article
OBPRM: an obstacle-based PRM for 3D workspaces
Nancy M. Amato,O. Burchan Bayazit,Lucia K. Dale,Christopher Jones,Daniel Vallejo +4 more
- pp 155-168
TLDR
This paper presents a new class of randomized path planning methods, known as Probabilistic Roadmap Methods (prms), which use randomization to construct a graph of representative paths in C-space whose vertices correspond to collision-free con gurations of the robot.Abstract:
Recently, a new class of randomized path planning methods, known as Probabilistic Roadmap Methods (prms) have shown great potential for solving complicated high-dimensional problems. prms use randomization (usually during preprocessing) to construct a graph of representative paths in C-space (a roadmap) whose vertices correspond to collision-free con gurations of the robot and in which two vertices are connected by an edge if a path between the two corresponding con gurations can be found by a local planning method.read more
Citations
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Workspace Medial Axis in PRM Planners
TL;DR: In this paper, the medial axis of the workspace is modeled as a skeleton, and a heuristic for finding difficult configurations using this skeleton-like surface has been proposed for rigid objects in a 3D workspace.
Proceedings ArticleDOI
Optimizing Low Energy Pathways in Receptor-Ligand Binding with Motion Planning
TL;DR: This method emulates ligand flexibility effects in rigid body docking at no extra computational cost and finds that allowing the algorithm to include different ligand conformations in its search for states of lower energy can result in optimized low energy pathways with reduced search times in difficult areas near energy barriers.
Proceedings ArticleDOI
Hierarchical Motion Planning Framework for Manipulators in Human-Centered Dynamic Environments
TL;DR: This work introduces a framework for motion planning of manipulators that builds upon the most promising existing approaches by combining them in an advantageous way and includes a new Obstacle-related Sampling Rejection Probabilistic Roadmap planner (ORSR-PRM) that represents the free workspace in an efficient way.
Proceedings ArticleDOI
Robust, compact representations for real-time path planning in changing environments
P. Leven,Seth Hutchinson +1 more
TL;DR: This paper develops a novel, efficient encoding scheme that exploits the redundancy in the map from robot's Euclidean workspace to its configuration space and introduces the concept of /spl epsi/-robustness, and presents quantitative results that illustrate the efficiency and robustness of this approach.
Proceedings ArticleDOI
Finding an unknown goal in an environment by a group of agents
TL;DR: This paper investigates one of the important swarming behaviors, finding an unknown goal by using a special roadmap, using a fast single-query roadmap in order to find the goal's location faster and also communications between agents can be done in an organized and easy way.
References
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Book
Robot Motion Planning
TL;DR: This chapter discusses the configuration space of a Rigid Object, the challenges of dealing with uncertainty, and potential field methods for solving these problems.
Journal ArticleDOI
Probabilistic roadmaps for path planning in high-dimensional configuration spaces
TL;DR: Experimental results show that path planning can be done in a fraction of a second on a contemporary workstation (/spl ap/150 MIPS), after learning for relatively short periods of time (a few dozen seconds).
Journal ArticleDOI
Robot motion planning: a distributed representation approach
TL;DR: A new approach to robot path planning that consists of building and searching a graph connecting the local minima of a potential function defined over the robot's configuration space is proposed and a planner based on this approach has been implemented.
Journal ArticleDOI
Gross motion planning—a survey
Yong K. Hwang,Narendra Ahuja +1 more
TL;DR: This paper surveys the work on gross-motion planning, including motion planners for point robots, rigid robots, and manipulators in stationary, time-varying, constrained, and movable-object environments.
Proceedings Article
Complexity of the Mover's Problem and Generalizations Extended Abstract
TL;DR: This paper concerns the problem of moving a polyhedron through Euclidean space while avoiding polyhedral obstacles.