Etienne Ferre

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The paper presents an efficient collision-free path planner for mechanical part disassembly simulation. The principle of the algorithm involves computing a first path while allowing some penetration within the obstacles. Then the current paths are iteratively re-shaped by decreasing the allowed penetration threshold. The process is controlled by a dynamic(More)
This paper presents an interactive motion planning system to compute free collision motion in a numerical model. The system is based on interaction between a user and a motion planning algorithm. On one hand the user moves the object with an interactive device and on the other hand a motion planning algorithm searches a solution in the configuration space.(More)
We present a fast algorithm to approximate the swept volume (SV) boundary of arbitrary polygon soup models. Despite the extensive research on calculating the volume swept by an object along a trajectory, the efficient algorithms described have imposed constraints on both the trajectories and geometric models. By proposing a general algorithm that handles(More)
Motion planning for complex dynamic systems as well as kinodynamic motion planning are still problems difficult to solve in their generic formulation. For systems for which no steering method is known, the only existing algorithms consist in building an exploration tree in the configuration space by exploring the input space of the system. The main drawback(More)
This paper deals with motion planning algorithms for the large space robot manipulators with complicated dynamic behavior. We propose two "two-stage" iterative algorithms, which provide collision-free robot motion taking into account robot's dynamics. The approach is based on new efficient methods for robot manipulator dynamics simulation and probabilistic(More)
Part assembly path planning consists in computing automatically a collision-free path for the part between a disassembled position and an assembled one. The part is first considered as a freeflying object. We have devised a probabilistic diffusion algorithm specially dedicated to that case. Then, we propose two approaches to add a virtual mannequin in the(More)
This paper deals with mechanical part assembly planning. The goal is to automatically compute a collision-free path for both the part to be assembled and the mannequin manipulating it. Two approaches are proposed according to the difficulty of the problem. Both are based on a general probabilistic diffusion algorithm working in the configuration space of(More)
The paper presents the performance of a collision-free path planner designed for PLM application purposes. The algorithm principle is based on a iterative probabilistic diffusion principle [9]. The paper puts emphasis on efficiency and practicality analysis. It focuses on experiments dealing with disassembly problems as well as robot programming. Efficiency(More)