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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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Coverage of Known Spaces: The Boustrophedon Cellular Decomposition
TL;DR: The boustrophedon cellular decomposition is a generalization of the trapezoidal decomposition that could allow for non-polygonalobstacles, but also has the side effect of having more “efficient” coverage paths than the Trapezoid decomposition.
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A randomized roadmap method for path and manipulation planning
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Path planning for robust image-based control
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