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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
Useful cycles in probabilistic roadmap graphs
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Safe Human-Robot Cooperation in an Industrial Environment
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A campaign in autonomous mine mapping
Christopher R. Baker,A. Morris,Dave Ferguson,Scott M. Thayer,Chuck Whittaker,Zachary Omohundro,Carlos F. Reverte,William Whittaker,Dirk Hähnel,Sebastian Thrun +9 more
TL;DR: The mechanisms, algorithms, and analysis tools that enable autonomous mine exploration and mapping along with extensive experimental results from eight successful deployments into the abandoned Mathies coal mine near Pittsburgh, PA are presented.
Proceedings ArticleDOI
High performance control for graceful motion of an intelligent wheelchair
Shilpa Gulati,Benjamin Kuipers +1 more
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Journal ArticleDOI
Safe Navigation of a Mobile Robot Considering Visibility of Environment
TL;DR: It is experimentally verified that a robot safely navigates in dynamic indoor environment by adopting the proposed scheme, which clearly indicates the structural procedure on how to model and to exploit the risk of navigation.