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Visibility-based probabilistic roadmaps for motion planning
This paper presents a variant of probabilistic roadmap methods (PRM) that recently appeared as a promising approach to motion planning. We exploit a free-space structuring of the configuration spaceExpand
Dynamic-Domain RRTs: Efficient Exploration by Controlling the Sampling Domain
This paper develops and implements a simple new planner which shows significant improvement over existing RRT-based planners and proposes a general framework for minimizing their effect. Expand
A Human Aware Mobile Robot Motion Planner
It is claimed that a human aware motion planner (HAMP) must not only provide safe robot paths, but also synthesize good, socially acceptable and legible paths to achieve motion and manipulation tasks in the presence or in synergy with humans. Expand
Manipulation Planning with Probabilistic Roadmaps
A general manipulation planning approach capable of addressing continuous sets for modeling both the possible grasps and the stable placements of the movable object, rather than discrete sets generally assumed by the previous approaches. Expand
Sampling-Based Path Planning on Configuration-Space Costmaps
The proposed planner computes low-cost paths that follow valleys and saddle points of the configuration-space costmap using the exploratory strength of the Rapidly exploring Random Tree (RRT) algorithm with transition tests used in stochastic optimization methods to accept or to reject new potential states. Expand
How may I serve you?: a robot companion approaching a seated person in a helping context
The combined results of two studies that investigated how a robot should best approach and place itself relative to a seated human subject indicated that most subjects disliked a frontal approach, except for a small minority of females, and most subjects preferred to be approached from either the left or right side. Expand
Two manipulation planning algorithms
This paper addresses the motion planning problem for a robot in presence of movable objects with an overview of a general approach which consists in building a manipulation graph whose connected components characterize the existence of solutions. Expand
Transition-based RRT for path planning in continuous cost spaces
This paper presents a new method called Transition-based RRT (T-RRT) for path planning in continuous cost spaces that combines the exploration strength of the RRT algorithm with the efficiency of stochastic optimization methods that use transition tests to accept or to reject a new potential state. Expand
Adaptive tuning of the sampling domain for dynamic-domain RRTs
A new variant of the dynamic-domain RRT, which iteratively adapts the sampling domain for the Voronoi region of each node during the search process, which allows automatic tuning of the parameter and significantly increases the robustness of the algorithm. Expand
Visibility based probabilistic roadmaps
A free-space structuring of the configuration space into visibility domains in order to produce small roadmaps is exploited and the efficiency of the approach in capturing narrow passages of collision-free configuration spaces is shown. Expand