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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
Matching 3-D Smooth Surfaces with their 2-D Projections using 3-D Distance Maps
TL;DR: A new method for determining the rigid body transformation that describes this match is presented, which performs a least squares minimization of the distance between the camera-contour projection lines and the surface.
Proceedings ArticleDOI
Reactive pedestrian path following from examples
TL;DR: An approach for generating reactive path following based on the user’s examples of the desired behavior and it is shown that simple direction primitives can be recorded and used to build natural, reactive, path-following behaviors.
Proceedings ArticleDOI
Generating near minimal spanning control sets for constrained motion planning in discrete state spaces
Mihail Pivtoraiko,Alonzo Kelly +1 more
TL;DR: A systematic method is proposed to generate a near-minimal set of spatially distinct motion alternatives that preserves the connectivity of the representation while eliminating redundancy - leading to a very efficient structure for motion planning at the chosen resolution.
Journal ArticleDOI
A simple biologically inspired algorithm for collision-free navigation of a unicycle-like robot in dynamic environments with moving obstacles
Andrey V. Savkin,Chao Wang +1 more
TL;DR: A biologically inspired strategy for the navigation of a unicycle-like robot towards a target while avoiding collisions with moving obstacles is presented.
Journal ArticleDOI
SANDROS: a dynamic graph search algorithm for motion planning
P.C. Chen,Y.K. Hwang +1 more
TL;DR: SANDROS is a dynamic-graph search algorithm, and can be described as a hierarchical, nonuniform-multiresolution, best-first search to find a heuristically short motion in the configuration space.