Motion planning for a robot and a movable object amidst polygonal obstacles

@article{DacreWright1992MotionPF,
  title={Motion planning for a robot and a movable object amidst polygonal obstacles},
  author={Benoit Dacre-Wright and Jean-Paul Laumond and Rachid Alami},
  journal={Proceedings 1992 IEEE International Conference on Robotics and Automation},
  year={1992},
  pages={2474-2480 vol.3}
}
  • Benoit Dacre-Wright, Jean-Paul Laumond, Rachid Alami
  • Published in
    Proceedings IEEE…
    1992
  • Mathematics, Computer Science
  • The authors address the motion planning problem for a robot and a movable object within polygonal obstacles. Motion planning in this context appears as a constrained instance of the coordinated motion planning problem for two robots. The object cannot move itself, it only does when the robot grasps it. A topological property that characterizes the existence of solutions in the subspace of configurations where the robot touches the object is discussed. This property provides a general resolution… CONTINUE READING

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