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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
Citations
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Journal ArticleDOI
Near Real-Time Motion Planning and Simulation of Cranes in Construction: Framework and System Architecture
Homam AlBahnassi,Amin Hammad +1 more
TL;DR: The work presented in this paper is directed toward developing a framework for near real-time motion planning of cranes that satisfies safety requirements and efficiently considers the dynamic properties of construction sites.
Journal ArticleDOI
An innovative multi-agent search-and-rescue path planning approach
Jean Berger,Nassirou Lo +1 more
TL;DR: The proposed MIP approach uses CPLEX problem-solving technology in promptly providing near-optimal solutions for realistic problems, while offering a robust upper bound derived from Lagrangean integrality constraint relaxation.
Book Chapter
Application Challenges to Computational Geometry: CG Impact Task Force Report
B. Chazelle,A. R. Forrest +1 more
TL;DR: The fraction of computing falling under the loosely deened rubric of \geometric computation" has been on the rise and is likely to become dominant in the next decade, and the opportunities and challenges this presents for the eld of computational geometry in the years ahead are assessed.
Journal ArticleDOI
Practical motion planning for car-parking control in narrow environment
TL;DR: In this article, a practical path planning algorithm for the car-parking control problem is proposed, where a variety of candidate paths can be generated by using conventional back-propagation scheme, and optimal solutions with respect to performance measures such as collision safety, moving distance, control efforts and so forth.
Dissertation
Real-time Trajectory Design for Unmanned Aerial Vehicles using Receding Horizon Control
TL;DR: MILPRHCuses asimplevehicledynamicsmodelintheneartermandanapproxi-matepathmodelinthelongterm and uses controlalgorithms acting on fourdifferentlevelsofthehierarchywereintegrated and testedontwohardwaretestbeds toverify real-timeoperationinthepresence of real-worlddisturbances anduncertainties.