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- Jérôme Barraquand, Jean-Claude Latombe
- I. J. Robotics Res.
- 1991

- Jérôme Barraquand, Bruno Langlois, Jean-Claude Latombe
- Fifth International Conference on Advanced…
- 1991

The authors investigate a path planning approach that consists of concurrently building and searching a graph connecting the local minima of a numerical potential field defined over the robot's configuration space. They describe techniques for constructing 'good' potentials and efficient methods for dealing with the local minima of these functions. These… (More)

- Jérôme Barraquand, Jean-Claude Latombe
- Algorithmica
- 1993

We consider mobile robots made of a single body (car-like robots) or several bodies (tractors towing several trailers sequentially hooked). These robots are known to be nonholonomic, i.e., they are subject to nonintegrable equality kinematic constraints involving the velocity. In other words, the number of controls (dimension of the admissible velocity… (More)

We consider the problem of pricing a contingent claim whose payoff depends on several sources of uncertainty. Using classical assumptions from the Arbitrage Pricing Theory, the theoretical price can be computed as the discounted expected value of future cash flows under the modified risk-neutral information process. Although analytical solutions have been… (More)

- Jérôme Barraquand, Pierre Ferbach
- ICRA
- 1994

The path planning problem, i.e. the geometrical problem of finding a collision-free path between two given configurations of a robot moving among obstacles, has been studied by many authors in recent years. The interest in constrained motion planning is more recent. Constrained motion planning consists in finding motion sequences for robotic systems whose… (More)

- Jérôme Barraquand, Lydia E. Kavraki, Jean-Claude Latombe, Tsai-Yen Li, Rajeev Motwani, Prabhakar Raghavan
- I. J. Robotics Res.
- 1997

Several randomized path planners have been proposed during the last few years. Their attractiveness stems from their applicability to virtually any type of robots, and their empirically observed success. In this paper we attempt to present a unifying view of these planners and to theoretically explain their success. First, we introduce a general planning… (More)

- Jérôme Barraquand, Pierre Ferbach
- ICRA
- 1995

- Jérôme Barraquand, Pierre Ferbach
- ICRA
- 1994

The path planning problem, i.e., the geometrical problem of finding a collision-free path between two given configurations of a robot moving among obstacles, has been studied by many authors in recent years. Several complete algorithms exist for robots with few degrees of freedom (DOF), but they are intractable for more than 4 DOF. In order to tackle… (More)

Much research has been devoted to path planning during the past decade, i.e. the geometrical problem of finding a collision-free path between two given postures (configurations) of an articulated body (robot) among obstacles. This problem has straightforward applications in robotic automation, computer aided design, and computer graphics animation. Current… (More)

- Pierre Ferbach, Jérôme Barraquand
- IEEE Trans. Robotics and Automation
- 1997