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Robot Motion Planning
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TLDR
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
Robot Path Planning using Particle Swarm Optimization of Ferguson Splines
TL;DR: This paper proposes an original approach using a path description by string of cubic splines that is easy executable and natural for car-like robot and it is possible to ensure smooth derivation in connections of particular splines.
Journal ArticleDOI
A Complete and Scalable Strategy for Coordinating Multiple Robots Within Roadmaps
TL;DR: This paper describes a multiphase approach to the planning problem that uses a graph and spanning tree representation to create and maintain obstacle-free paths through the environment for each robot to reach its goal.
Journal ArticleDOI
Trajectory planning in a dynamic workspace: a 'state-time space' approach
TL;DR: This paper addresses trajectory planning in a dynamic workspace, i.e. motion planning for a robot subject to dynamic constraints and moving in a workspace with moving obstacles with a near-time-optimal approach that searches the solution trajectory over a restricted set of canonical trajectories.
Proceedings Article
A Motion Planning Approach to Flexible Ligand Binding
TL;DR: A novel technique for studying the dynamics of protein-ligand interactions based on motion planning algorithms from the field of robotics, which uses electrostatic and van der Waals potentials to compute the most energetically favorable path between any given initial and goal ligand configurations.
Journal ArticleDOI
Trajectory Planning in Robotics
TL;DR: The general problem of trajectory planning in Robotics is addressed, with an overview of the most significant methods, that have been proposed in the robotic literature to generate collision-free paths.