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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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Proceedings ArticleDOI
Global nearness diagram navigation (GND)
TL;DR: This system has all the advantages of using the reactive scheme nearness diagram (ND), while having the ability to reason and plan globally (reaching global convergence to the navigation problem).
Micro and Meso Scale Robotic Assembly
Dan O. Popa,Harry E. Stephanou +1 more
TL;DR: The challenges associated with micro systems assembly are examined, and examples of on-going research at the authors' institution are illustrated, with some guidelines for the design of multiscale assembly systems.
Book ChapterDOI
From Dynamic Programming to RRTs: Algorithmic Design of Feasible Trajectories
TL;DR: This paper summarizes the recent development of algorithms that construct feasible trajectories for problems that involve both differential constraints and global constraints, and dynamic programming approaches are described that produce approximately-optimal solutions for low-dimensional problems.
Proceedings ArticleDOI
Real-time reactive motion generation based on variable attractor dynamics and shaped velocities
Sami Haddadin,Holger Urbanek,Sven Parusel,Darius Burschka,Jurgen Rossmann,Alin Albu-Schaffer,Gerd Hirzinger +6 more
TL;DR: A novel method for motion generation and reactive collision avoidance that can, due to its low complexity, run in the inner most control loop of the robot, which is absolutely crucial for safe Human Robot Interaction.
Journal ArticleDOI
Higher topological complexity and its symmetrization
TL;DR: In this paper, the authors developed the properties of the n th sequential topological complexity TCn, a homotopy invariant introduced by the third author as an extension of Farber's topological model for studying the complexity of motion planning algorithms in robotics.