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Robot motion planning
- J. Latombe
- GeologyThe Kluwer International Series in Engineering…
This chapter discusses the configuration space of a Rigid Object, the challenges of dealing with uncertainty, and potential field methods for solving these problems.
Probabilistic roadmaps for path planning in high-dimensional configuration spaces
- L. Kavraki, P. Svestka, J. Latombe, M. Overmars
- Computer ScienceIEEE Trans. Robotics Autom.
- 1 August 1996
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).
Principles of Robot Motion: Theory, Algorithms, and Implementations [Book Review]
This text reflects the great advances that have taken place in the last ten years in robotics, including sensor-based planning, probabalistic planning, localization and mapping, and motion planning for dynamic and nonholonomic systems.
Path planning in expansive configuration spaces
- David Hsu, J. Latombe, R. Motwani
- Computer ScienceProceedings of International Conference on…
- 20 April 1997
The analysis of expansive configuration spaces has inspired a new randomized planning algorithm that tries to sample only the portion of the configuration space that is relevant to the current query, avoiding the cost of precomputing a roadmap for the entire configuration space.
Randomized Kinodynamic Motion Planning with Moving Obstacles
A detailed analysis of the planner's convergence rate shows that, if the state×time space satisfies a geometric property called expansiveness, then a slightly idealized version of the implemented planner is guaranteed to find a trajectory when one exists, with probability quickly converging to 1, as the number of milestones increases.
Robot Motion Planning: A Distributed Representation Approach
We propose a new approach to robot path planning that consists of building and searching a graph connecting the local minima of a potential function defined over the robot's configuration space. A…
Navigation Strategies for Exploring Indoor Environments
The concept of a safe region is introduced, defined as the largest region that is guaranteed to be free of obstacles given the sensor readings made so far, and an NBV algorithm is proposed that uses the safe-region concept to select the next robot position at each step.
Analysis of probabilistic roadmaps for path planning
- L. Kavraki, Mihail N. Kolountzakis, J. Latombe
- PhysicsProceedings of IEEE International Conference on…
- 22 April 1996
An analysis of a recent path planning method which uses probabilistic roadmaps, which has proven very successful in practice, but the theoretical understanding of its performance is still limited.
Numerical potential field techniques for robot path planning
- J. Barraquand, B. Langlois, J. Latombe
- PhysicsFifth International Conference on Advanced…
- 19 June 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…
A Single-Query Bi-Directional Probabilistic Roadmap Planner with Lazy Collision Checking
Experimental results show that this combination of techniques drastically reduces planning times, making it possible to handle difficult problems, including multi-robot problems in geometrically complex environments.