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A simple and efficient randomized algorithm is presented for solving single-query path planning problems in high-dimensional configuration spaces. The method works by incrementally building two Rapidly-exploring Random Trees (RRTs) rooted at the start and the goal configurations. The trees each explore space around them and also advance towards each other(More)
This paper addresses the problem of planning the motion of one or more pursuers in a polygonal environment to eventually \see" an evader that is unpredictable, has unknown initial position, and is capable of moving arbitrarily fast. This problem was rst introduced by Suzuki and Yamashita. Our study of this problem is motivated in part by robotics(More)
— Sampling-based planners have solved difficult problems in many applications of motion planning in recent years. In particular, techniques based on the Rapidly-exploring Random Trees (RRTs) have generated highly successful single-query planners. Even though RRTs work well on many problems , they have weaknesses which cause them to explore slowly when the(More)
We propose the use of quasi-random sampling techniques for path planning in high-dimensional conng-uration spaces. Following similar trends from related numerical computation elds, we show several advantages ooered by these techniques in comparison to random sampling. Our ideas are evaluated in the context of the probabilistic roadmap (PRM) framework. Two(More)
This paper addresses the problem of planning the motion of one or more pursuers in a polygonal environment to eventually \see" an evader that is unpredictable, has unknown initial position, and is capable of moving arbitrarily fast. A visibility region is associated w i t h e ach pursuer, and the goal is to guarantee that the evader will ultimately lie in(More)
— Sampling based planners have become increasingly efficient in solving the problems of classical motion planning and its applications. In particular, techniques based on the Rapidly-exploring Random Trees (RRTs) have generated highly successful single-query planners. Recently, a variant of this planner called dynamic-domain RRT was introduced in [28]. It(More)
This work makes two contributions to geometric motion planning for multiple robots: i) Motion plans are computed that simultaneously optimize an independent performance measure for each robot; ii) A general spectrum is deened between decoupled and centralized planning, in which we introduce coordination along independent roadmaps. By considering independent(More)
We introduce the problem of computing robot motion strategies that maintain visibility of a moving target in a cluttered workspace. Both motion constraints (as considered in standard motion planning) and visibility constraints (as considered in visual tracking) must be satis-ed. Additional criteria, such as the total distance trav-eled, can be optimized.(More)