Proceedings ArticleDOI
Rapid computation of configuration space obstacles
Michael S. Branicky,Wyatt S. Newman +1 more
- pp 304-310
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TLDR
Transformation of complex workspace shapes into configuration space are described in terms of multiple transformations of such simpler primitives.Abstract:
Mathematical properties of configuration space are presented, and algorithms invoking those properties for efficient computation of obstacles in configuration space are described. Simple elements in Cartesian space which can be transformed into configuration space rapidly are identified. Transformations of complex workspace shapes into configuration space are described in terms of multiple transformations of such simpler primitives. Computational considerations and examples are presented for the first three degrees of freedom of an industrial robot. >read more
Citations
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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 ArticleDOI
SANDROS: a motion planner with performance proportional to task difficulty
P.C. Chen,Y.K. Hwang +1 more
TL;DR: This algorithm uses SANDROS, a search strategy that combines hierarchical, nonuniform multiresolution, and best-first search to find a near-optimal solution in the configuration space.
Journal ArticleDOI
The Shape of Space
Thomas Banchoff,Jeffrey Weeks +1 more
TL;DR: SURFACES and three-manifolds Flatland Gluing Vocabulary Orientability Connected Sums Products Flat Manifolds Orientability vs. Two-Sidedness GEOMETRIES on SURFACes The Sphere The Hyperbolic Plane Geometries on Surfaces The Gauss-Bonnet Formula and the Euler Number GEOMetries on Three-Manifolds Four-Dimensional Space The Hypersphere Hyperbola Space Geometry on Three Manifold I Bundles Geometrie on ThreeManif
Proceedings ArticleDOI
Parallel robot motion planning
TL;DR: A fast, parallel method for computing configuration space maps is presented, made possible by recognizing that one can compute a family of primitive maps which can be combined by superposition based on the distribution of real obstacles.
Journal ArticleDOI
A Survey of Global Configuration-Space Mapping Techniques for a Single Robot in a Static Environment:
Kevin D. Wise,Adrian Bowyer +1 more
TL;DR: This survey aims to provide the developer of a C-space-based system with an overview of those techniques that map the global C- space of a single robot in a static environment and discusses issues concerning how the robot and its environment are modeled and describes a range of schemes used to represent aC-space map.
References
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Book
Robot Vision
TL;DR: Robot Vision as discussed by the authors is a broad overview of the field of computer vision, using a consistent notation based on a detailed understanding of the image formation process, which can provide a useful and current reference for professionals working in the fields of machine vision, image processing, and pattern recognition.
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.
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Robot analysis and control
TL;DR: The basic concepts of robot manipulation are introduced--the fundamental kinematic and dynamic analysis of manipulator arms, and the key techniques for trajectory control and compliant motion control.
Journal ArticleDOI
On multiple moving objects
TL;DR: This paper explores the motion-planning problem for multiple moving objects by assigning priorities to the objects, then planning motions one object at a time, using two-dimensional slices.