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- Bruce Randall Donald, Patrick G. Xavier, John F. Canny, John H. Reif
- J. ACM
- 1993

Kinodynamic planmng attempts to solve a robot motion problem subject to simultaneous kinematic and dynamics constraints. In the general problem, ggven a robot system, we must find a minimal-timeâ€¦ (More)

- Russell Gayle, Kristopher R. Klingler, Patrick G. Xavier
- Proceedings 2007 IEEE International Conference onâ€¦
- 2007

We present a novel algorithm for robot motion planning in dynamic environments. Our approach extends rapidly-exploring random trees (RRTs) in several ways. We assume the need to simultaneously planâ€¦ (More)

- Bruce Randall Donald, Patrick G. Xavier
- Algorithmica
- 1995

We consider the following problem: given a robot system, find a minimal-time trajectory that goes from a start state to a goal state while avoiding obstacles by a speed-dependent safety margin andâ€¦ (More)

- Bruce Randall Donald, Patrick G. Xavier
- Symposium on Computational Geometry
- 1990

We consider the following problem: given a robot system, find a minimal-time trajectory from a start state to a goal state, while avoiding obstacles by a speed-dependent safety margin and respectingâ€¦ (More)

- Patrick G. Xavier
- ICRA
- 1999

We consider the problem of planning shortest paths for a tethered robot with a finite length tether in a 2D environment with polygonal obstacles. We present an algorithm that runs in time O((klâ€¦ (More)

- Brandon Rohrer, Michael L. Bernard, J. Daniel Morrow, Fred Rothganger, Patrick G. Xavier
- 2009 Fifth International Conference on Naturalâ€¦
- 2009

A model-free, biologically-motivated learning and control algorithm called S-learning is described as implemented in an Surveyor SRV-1 mobile robot. S-learning demonstrated learning of robotic andâ€¦ (More)

- Patrick G. Xavier
- ICRA
- 1996

For a number of years, robotics researchers have exploited hierarchical representations of geometrical objects and scenes in motion-planning, collisionavoidance, and simulation. However, few generalâ€¦ (More)

- Patrick G. Xavier
- ICRA
- 1997

The need for collision detection arises in several robotics areas, including motion-planning, online collision avoidance, and simulation. At the heart of most current methods are algorithms forâ€¦ (More)

- Bruce Randall Donald, Patrick G. Xavier
- Algorithmica
- 1995

Inoptimal kinodynamic planning, given a robot system, we must find a minimal-time trajectory that goes from a start state to a goal state while avoiding obstacles by a speed-dependent safety marginâ€¦ (More)