Probabilistic roadmaps for path planning in high-dimensional configuration spaces
Lydia E. Kavraki,P. Svestka,Jean-Claude Latombe,Mark H. Overmars +3 more
- Vol. 12, Iss: 4, pp 566-580
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TLDR
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).Abstract:
A new motion planning method for robots in static workspaces is presented. This method proceeds in two phases: a learning phase and a query phase. In the learning phase, a probabilistic roadmap is constructed and stored as a graph whose nodes correspond to collision-free configurations and whose edges correspond to feasible paths between these configurations. These paths are computed using a simple and fast local planner. In the query phase, any given start and goal configurations of the robot are connected to two nodes of the roadmap; the roadmap is then searched for a path joining these two nodes. The method is general and easy to implement. It can be applied to virtually any type of holonomic robot. It requires selecting certain parameters (e.g., the duration of the learning phase) whose values depend on the scene, that is the robot and its workspace. But these values turn out to be relatively easy to choose, Increased efficiency can also be achieved by tailoring some components of the method (e.g., the local planner) to the considered robots. In this paper the method is applied to planar articulated robots with many degrees of freedom. 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).read more
Citations
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Journal ArticleDOI
An Iterative Approach for Collision Free Routing and Scheduling in Multirobot Stations
TL;DR: An iterative and decoupled approach to planning robot operations in welding applications in the automotive industry, inspired by the problem of planning sequences of operations, as welding, in car manufacturing stations where multiple industrial robots cooperate, and introduces an optimal algorithm and a novel suboptimal algorithm to synchronize the robots.
Proceedings ArticleDOI
Asymptotically-optimal Motion Planning using lower bounds on cost
Oren Salzman,Dan Halperin +1 more
TL;DR: In this paper, the authors proposed Motion Planning using Lower Bounds (MPLB) algorithm, which is based on the Fast Marching Trees (FMT*) algorithm and uses effective lower bounds on the cost between configurations to tightly estimate the cost-to-go.
Proceedings ArticleDOI
Proving path non-existence using sampling and alpha shapes
TL;DR: This paper iteratively builds a constructive proof that two configurations lie in disjoint components of the free configuration space, and first generates samples that correspond to configurations for which the robot is in collision with an obstacle.
Journal ArticleDOI
Special section: IEEE Virtual Reality (VR) 2009: Interactive path planning for haptic assistance in assembly tasks
TL;DR: A global interactive framework including fast motion planning and a real-time guiding force for 3D CAD part assembly or disassembly tasks and haptic artificial guidance on the path is provided to the user.
Book ChapterDOI
Efficient Multi-Robot Motion Planning for Unlabeled Discs in Simple Polygons
TL;DR: In this article, the authors consider the problem of moving a set of unit disks in a simple polygon with each at their own start position to a given set of target positions, where each disc can be moved to any target position, as long as in the end every target position is occupied.
References
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Journal ArticleDOI
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