Open AccessBook
Robot Motion Planning
Reads0
Chats0
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
Citations
More filters
Journal ArticleDOI
Minimizing user queries in interactive assembly planning
TL;DR: A dual approach to the problem of computer-aided assembly planners interaction with manufacturing engineers is described, reducing the number of user queries by several orders of magnitude without sacrificing accuracy.
Journal ArticleDOI
Fast interference detection between geometric models
Ming C. Lin,Dinesh Manocha +1 more
TL;DR: An efficient algorithm for interference detection between convex polytopes using coherence and local features is described and an extension using hierarchical representation to concave poly topes is presented.
Proceedings ArticleDOI
Disciplined convex-concave programming
TL;DR: In this article, the authors propose a framework called DCCP, which combines the ideas of disciplined convex programming (DCP) with convex-concave programming (CCP).
Proceedings Article
Tractable multi-agent path planning on grid maps
Ko-Hsin Cindy Wang,Adi Botea +1 more
TL;DR: This is the first study that formalises restrictions to obtain a tractable class of multi-agent path planning problems and shows that MAPP has low-polynomial worst-case upper bounds for the running time, the memory requirements, and the length of solutions.
Proceedings ArticleDOI
Reachability-based synthesis of feedback policies for motion planning under bounded disturbances
TL;DR: This paper presents a systematic approach for generating robust motion control strategies to satisfy high level specifications of safety, target attainability, and invariance, under unknown but bounded, continuous disturbances.