Obstacle avoidance using an octree in the configuration space of a manipulator

@inproceedings{Faverjon1984ObstacleAU,
  title={Obstacle avoidance using an octree in the configuration space of a manipulator},
  author={Bernard Faverjon},
  booktitle={ICRA},
  year={1984}
}
An automat ic system for p lanning safe t r a j e c t o r i e s f o r a computer c o n t r o l l e d manipulator among obs tac les i s a key component o f r o b o t assembly operations. This paper describes an a lgor i thm t rans forming C a r t e s i a n o b s t a c l e s i n t o o b s t a c l e s i n t h e space o f t h e f i r s t t h r e e j o i… CONTINUE READING