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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From Motion Planning to Control - A Navigation Framework for an Autonomous Unmanned Aerial Vehicle
TL;DR: A motion planning framework which integrates two sample-based motion planning techniques, Probabilistic Roadmaps and Rapidly Exploring Random Trees together with a path following controller that is used during path execution, which offers a surprisingly efficient method for dynamic replanning of a motion plan based on unforeseen contingencies which may arise during the execution of a plan.
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Toggle PRM: A Coordinated Mapping of C-Free and C-Obstacle in Arbitrary Dimension
Jory Denny,Nancy M. Amatoo +1 more
TL;DR: A new narrow passage characterization, α-e-separable narrow passages, is introduced, which describes the types of passages that can be successfully mapped by Toggle PRM and is generalized to d-dimensions and shows that the benefits of mapping both C free and C obst continue to hold in higher dimensions.
Journal ArticleDOI
A Delay-Tolerant Potential-Field-Based Network Implementation of an Integrated Navigation System
TL;DR: In this paper, the authors examined the practical aspects of designing and building an NC that uses the Internet as a communication medium and found compatible controller components that can be integrated via a host structure in a manner that makes it possible to network, in real-time, a webcam, an unmanned ground vehicle (UGV), and a remote computer server along with the necessary operator software interface.
Proceedings ArticleDOI
Path planning and obstacle avoidance for vision guided quadrotor UAV navigation
TL;DR: A path planning algorithm is implemented and combined with an obstacle avoidance system for a small commercial quadrotor vehicle to keep the flight safe and show the feasibility of this technique for path planning and autonomous navigation.
Journal ArticleDOI
Cable manipulation with a tactile-reactive gripper:
TL;DR: A perception and control framework that moves in that direction, and uses real-time tactile feedback to accomplish the task of following a dangling cable, is presented, believed to be the first implementation of real- time cable following without the aid of mechanical fixtures.
References
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Journal ArticleDOI
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Journal ArticleDOI
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Elon Rimon,Daniel E. Koditschek +1 more
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