Reza Iraji

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— Motion planning has been studied for nearly four decades now. Complete, combinatorial motion planning approaches are theoretically well-rooted with completeness guarantees but they are hard to implement. Sampling-based and heuristic methods are easy-to-implement and quite simple to customize but they lack completeness guarantees. Can the best of both(More)
—In this paper we present a simulated annealing-based method for planning efficient paths with a tether which avoid entanglement in an obstacle-filled environment. By evaluating total path cost as a function of both path length and entanglements, a robot can plan a path through multiple points of interest while avoiding becoming entangled in any obstacle.(More)