Topic

# Holonomic

About: Holonomic is a research topic. Over the lifetime, 2930 publications have been published within this topic receiving 53983 citations.

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01 Aug 1996

TL;DR: Experimental results show that path planning can be done in a fraction of a second on a contemporary workstation (/spl ap/150 MIPS), after learning for relatively short periods of time (a few dozen seconds).

Abstract: A new motion planning method for robots in static workspaces is presented. This method proceeds in two phases: a learning phase and a query phase. In the learning phase, a probabilistic roadmap is constructed and stored as a graph whose nodes correspond to collision-free configurations and whose edges correspond to feasible paths between these configurations. These paths are computed using a simple and fast local planner. In the query phase, any given start and goal configurations of the robot are connected to two nodes of the roadmap; the roadmap is then searched for a path joining these two nodes. The method is general and easy to implement. It can be applied to virtually any type of holonomic robot. It requires selecting certain parameters (e.g., the duration of the learning phase) whose values depend on the scene, that is the robot and its workspace. But these values turn out to be relatively easy to choose, Increased efficiency can also be achieved by tailoring some components of the method (e.g., the local planner) to the considered robots. In this paper the method is applied to planar articulated robots with many degrees of freedom. Experimental results show that path planning can be done in a fraction of a second on a contemporary workstation (/spl ap/150 MIPS), after learning for relatively short periods of time (a few dozen seconds).

4,977 citations

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TL;DR: In this article, it is shown how the analytical relations can be satisfied in a stabilized manner in order to improve the numerical accuracy of the solution of the differential equations, which leads to a modified differential system which is often stable in the sense of Ljapunov.

1,429 citations

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TL;DR: In this paper, the generalized Berry phase (GBP) was used for enabling quantum computation, where the computational space is realized by a n-fold degenerate eigenspace of a family of Hamiltonians parametrized by a manifold M.

770 citations

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TL;DR: In this article, it was shown that any identity involving sums and integrals of products of holonomic functions can be verified in a finite number of steps. But this is partially substantiated by an algorithm that proves terminating hypergeometric series identities, and that is given both in English and in MAPLE.

595 citations

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10 May 1999TL;DR: The global dynamic window approach is proposed, which combines methods from motion planning and real-time obstacle avoidance to result in a framework that allows robust execution of high-velocity, goal-directed reactive motion for a mobile robot in unknown and dynamic environments.

Abstract: Many applications in mobile robotics require the safe execution of a collision-free motion to a goal position. Planning approaches are well suited for achieving a goal position in known static environments, while real-time obstacle avoidance methods allow reactive motion behavior in dynamic and unknown environments. This paper proposes the global dynamic window approach as a generalization of the dynamic window approach. It combines methods from motion planning and real-time obstacle avoidance to result in a framework that allows robust execution of high-velocity, goal-directed reactive motion for a mobile robot in unknown and dynamic environments. The global dynamic window approach is applicable to nonholonomic and holonomic mobile robots.

557 citations