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Robot Motion Planning
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TLDR
This chapter discusses the configuration space of a Rigid Object, the challenges of dealing with uncertainty, and potential field methods for solving these problems.Abstract:
1 Introduction and Overview.- 2 Configuration Space of a Rigid Object.- 3 Obstacles in Configuration Space.- 4 Roadmap Methods.- 5 Exact Cell Decomposition.- 6 Approximate Cell Decomposition.- 7 Potential Field Methods.- 8 Multiple Moving Objects.- 9 Kinematic Constraints.- 10 Dealing with Uncertainty.- 11 Movable Objects.- Prospects.- Appendix A Basic Mathematics.- Appendix B Computational Complexity.- Appendix C Graph Searching.- Appendix D Sweep-Line Algorithm.- References.read more
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Proceedings ArticleDOI
Interactive navigation in complex environments using path planning
TL;DR: A novel approach for interactive navigation in complex 3D synthetic environments using path planning by using a variant of randomized motion planning algorithm along with a reachability-based analysis to precompute a global roadmap of the environment.
Journal ArticleDOI
Parts Feeding on a Conveyor with a One Joint Robot
TL;DR: A model of a method of manipulating a planar rigid part on a conveyor belt using a robot with just one joint is developed and of a variation which requires no sensing is developed.
Journal ArticleDOI
Micro and Mesoscale Robotic Assembly
Dan O. Popa,Harry E. Stephanou +1 more
TL;DR: In this article, the authors present several concepts for the development of multiscale robotic tools for the assembly of micro-systems, with the goal of enabling high-throughput, faulttolerant assembly at moderate cost.
Better group behaviors in complex environments using global roadmaps
TL;DR: In this article, the authors propose new techniques for four distinct group behaviors: homing, goal searching, traversing narrow areas and shepherding, which enable the creatures to modify their actions based on their current location and state.
Proceedings ArticleDOI
Real-time Path Planning for Virtual Agents in Dynamic Environments
TL;DR: A new data structure, Multi-agent Navigation Graph (MaNG), which is constructed from the first- and second-order Voronoi diagrams, is introduced, which is used to perform route planning and proximity computations for each agent in real time.