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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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Journal ArticleDOI
Sequential composition of dynamically dexterous robot behaviors
TL;DR: Experimental results from an implementation of a sequential robot controller-composition technique in the context of dexterous “batting” maneuvers are reported, and descriptive statistics characterizing the experiments are presented.
Journal ArticleDOI
Obstacle avoidance in a dynamic environment: a collision cone approach
TL;DR: It is shown that the collision cone can be effectively used to determine whether collision between a robot and an obstacle is imminent, and several strategies that the robot can follow in order to avoid collision are presented.
Proceedings ArticleDOI
Path planning in expansive configuration spaces
TL;DR: The analysis of expansive configuration spaces has inspired a new randomized planning algorithm that tries to sample only the portion of the configuration space that is relevant to the current query, avoiding the cost of precomputing a roadmap for the entire configuration space.
Journal ArticleDOI
Probabilistic Algorithms in Robotics
TL;DR: It is proposed that the probabilistic approach to robotics scales better to complex real-world applications than approaches that ignore a robot's uncertainty.
Proceedings ArticleDOI
Fast computation of generalized Voronoi diagrams using graphics hardware
TL;DR: A new approach for computing generalized 2D and 3D Voronoi diagrams using interpolation-based polygon rasterization hardware is presented and the application of this algorithm to fast motion planning in static and dynamic environments, selection in complex user-interfaces, and creation of dynamic mosaic effects is demonstrated.