Randomized Query Processing in Robot Path Planning
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TLDR
Under a simple assumption about the configuration space, it is shown that it is possible to perform preprocessing following which queries can be answered quickly, and a theoretical basis for explaining this empirical success is initiated.About:
This article is published in Journal of Computer and System Sciences.The article was published on 1998-08-01 and is currently open access. It has received 74 citations till now. The article focuses on the topics: Any-angle path planning & Connectivity.read more
Citations
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Journal ArticleDOI
Clustering data streams: Theory and practice
TL;DR: This work describes a streaming algorithm that effectively clusters large data streams and provides empirical evidence of the algorithm's performance on synthetic and real data streams.
Journal ArticleDOI
Randomized Kinodynamic Motion Planning with Moving Obstacles
TL;DR: A detailed analysis of the planner's convergence rate shows that, if the state×time space satisfies a geometric property called expansiveness, then a slightly idealized version of the implemented planner is guaranteed to find a trajectory when one exists, with probability quickly converging to 1, as the number of milestones increases.
Proceedings ArticleDOI
Clustering data streams
TL;DR: This work gives constant-factor approximation algorithms for the k-median problem in the data stream model of computation in a single pass, and shows negative results implying that these algorithms cannot be improved in a certain sense.
Journal ArticleDOI
Real-Time Motion Planning for Agile Autonomous Vehicles
TL;DR: In this paper, a randomized path planning architecture for dynamical systems in the presence of fixed and moving obstacles is proposed, which can be applied to vehicles whose dynamics are described either by ordinary differential equations or by higher-level, hybrid representations.
Proceedings ArticleDOI
Real-time motion planning for agile autonomous vehicles
TL;DR: This paper proposes a randomized motion planning architecture for dynamical systems in the presence of fixed and moving obstacles that addresses the dynamic constraints on the vehicle's motion, and it provides at the same time a consistent decoupling between low-level control and motion planning.
References
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Journal ArticleDOI
Real-time obstacle avoidance for manipulators and mobile robots
TL;DR: This paper reformulated the manipulator con trol problem as direct control of manipulator motion in operational space—the space in which the task is originally described—rather than as control of the task's corresponding joint space motion obtained only after geometric and geometric transformation.
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
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
Spatial Planning: A Configuration Space Approach
TL;DR: In this article, the authors propose an approach based on characterizing the position and orientation of an object as a single point in a configuration space, in which each coordinate represents a degree of freedom in the position or orientation of the object.
Book
Spatial planning: a configuration space approach
TL;DR: Algorithms for computing constraints on the position of an object due to the presence of ther objects, which arises in applications that require choosing how to arrange or how to move objects without collisions are presented.