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— We present a general search strategy called SAN-DROS for motion planning, and its applications to motion planning for three types of robots: 1) manipulator; 2) rigid object; 3) multiple rigid objects. SANDROS is a dynamic-graph search algorithm, and can be described as a hierarchical, nonuniform-multiresolution, and best-first search to find a(More)
To address the need for a fast path planner, we present a learning algorithm that improves path planning by using past experience to enhance future performance. The algorithm relies on an existing path planner to provide solutions to difficult tasks. From these solutions, an evolving sparse network of useful robot configurations is learned to support faster(More)
  • P C Chen
  • 1979
Malaysia has a large variety of traditional medical systems that are a direct reflection of the wide ethnic diversity of its population. These can be grouped into four basic varieties, namely, traditional "native," traditional Chinese, traditional Indian and modern medicine, examples of which are described. In spite of the great inroads made by modern(More)
In this paper, we present a new hybrid motion planner that is capable of exploiting previous planning episodes when confronted with new planning problems. Our approach is applicable when several (similar) problems are successively posed for the same static environment, or when the environment changes incrementally between planning episodes. At the heart of(More)
Complementary treatment approaches have been increasingly demanded by women during the last several decades to relieve their gynecological disorders, reduce side effects of conventional hormonal or cancer treatment, and enhance health-related quality of life. As many women do not disclose their complementary therapies to their gynecologists or oncologists,(More)