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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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Book ChapterDOI
Kinodynamic Motion Planning by Interior-Exterior Cell Exploration
Ioan A. Sucan,Lydia E. Kavraki +1 more
TL;DR: Applications of motion planning have also expanded to fields such as graphics and computational biology, and the field that addresses planning for complex robots with kinematic and dynamic constraints is addressed.
Journal ArticleDOI
Robots in Human Environments: Basic Autonomous Capabilities
TL;DR: The article presents developments of models, strategies, and algorithms concerned with a number of autonomous capabilities that are essential for robot operations in human environments, including integrated mobility and manipulation, cooperative skills between multiple robots, interaction ability with humans, and efficient techniques for real-time modification of collision-free path.
Journal ArticleDOI
Distributed Control for 3D Metamorphosis
TL;DR: This paper presents a class of distributed control algorithms for the reconfiguration of Proteo robots based on the “goal-ordering” mechanism, and the properties of these algorithms are analyzed.
Proceedings ArticleDOI
Chance Constrained RRT for Probabilistic Robustness to Environmental Uncertainty
TL;DR: A novel real-time planning algorithm, chance constrained rapidly-exploring random trees (CC-RRT), which uses chance constraints to guarantee probabilistic feasibility for linear systems subject to process noise and/or uncertain, possibly dynamic obstacles.