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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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Principles of Robot Motion: Theory, Algorithms, and Implementation ERRATA!!!! 1
Proceedings ArticleDOI
Motion planning for urban driving using RRT
TL;DR: The numerous extensions made to the standard RRT algorithm that enable the on-line use of RRT on robotic vehicles with complex, unstable dynamics and significant drift, while preserving safety in the face of uncertainty and limited sensing are presented.
Book ChapterDOI
Robotic home assistant Care-O-bot ® 3 - product vision and innovation platform
TL;DR: The development of a mobile robot to assist people in their home is a long term goal of Fraunhofer IPA and current developments aim at applying the robot in an eldercare facility in order to support the personnel in their daily tasks.
Journal ArticleDOI
The Saphira architecture: A design for autonomy
TL;DR: It is shown how the ability to attend to another agent, to take advice about the environment, and to carry out assigned tasks are integrated in the Saphira architecture using the concepts of coordination of behaviour, coherence of modelling, and communication with other agents.
Book ChapterDOI
Path Planning and Trajectory Planning Algorithms: A General Overview
TL;DR: In this paper, the authors present a trajectory planning algorithm for robots that can be executed at high speed, but at the same time harmless for the robot, in terms of avoiding excessive accelerations of the actuators and vibrations of the mechanical structure.