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Robot Motion Planning
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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
Exploring implicit spaces for constrained sampling-based planning:
TL;DR: It is shown that implicit configuration spaces defined by constraints can be presented to sampling-based planners by addressing two key fundamental primitives, sampling and local planning, and that IMACS preserves theoretical properties of probabilistic completeness and asymptotic optimality through these primitives.
Journal ArticleDOI
Parallel RRT-based path planning for selective disassembly planning
TL;DR: This paper presents a modification of the rapid-growing random tree-based algorithm (RRT) that addresses the main differences between both the disassembly path-planning problem and the general path- planners, such as the lack of a target configuration.
Journal ArticleDOI
Real-time path planning with limited information for autonomous unmanned air vehicles
TL;DR: Real-time path planning schemes employing limited information for fully autonomous unmanned air vehicles (UAVs) in a hostile environment and a class of dynamic threats so that the second algorithm can efficiently handle such dynamic threats while guaranteeing its convergence to a given target.
Proceedings ArticleDOI
Disassembly sequencing using a motion planning approach
TL;DR: This work treats the parts in the assembly as robots and operates in the composite configuration space of the parts' individual configuration spaces, and constructs a disassembly tree which is rooted at the starting assembled configuration.
Book ChapterDOI
Robot Navigation: Integrating Perception, Environmental Constraints and Task Execution Within a Probabilistic Framework
TL;DR: An integrated approach to robot navigation that incorporates task-related information needs, perceptual capabilities, robot knowledge metrics and spatial characteristics of the environment into the motion planning process is proposed.