Adnan Ademovic

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In this paper, a planning algorithm for computing collision-free paths for robotic manipulators is described. The algorithm is based on incremental growth of tree-like structures that are formed by so-called bubbles, which represent volumes of free configuration space easily computed using the distance information in the workspace. The growth of the trees(More)
This paper presents a novel method for using volumetric information in the C-space for generating collision-free paths for robotic manipulators in the presence of obstacles. The method is based on the RRT paradigm, i.e., incrementally building trees in C-space in order to connect the initial configuration to the final one. Bubbles of free C-space are used(More)
This paper presents a new approach to C-space exploration and path planning for robotic manipulators using the structure named bur of free C-space. This structure builds upon the so-called bubble, which is a local volume of free C-space, easily computed using the distance information in the workspace. We show how the same distance information can be used to(More)
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