Randomized preprocessing of configuration for fast path planning

@article{Kavraki1994RandomizedPO,
  title={Randomized preprocessing of configuration for fast path planning},
  author={Lydia E. Kavraki and Jean-Claude Latombe},
  journal={Proceedings of the 1994 IEEE International Conference on Robotics and Automation},
  year={1994},
  pages={2138-2145 vol.3}
}
  • L. Kavraki, J. Latombe
  • Published 8 May 1994
  • Computer Science
  • Proceedings of the 1994 IEEE International Conference on Robotics and Automation
This paper presents a new approach to path planning for robots with many degrees of freedom (DOF) operating in known static environments. The approach consists of a preprocessing and a planning stage. Preprocessing, which is done only once for a given environment, generates a network of randomly, but properly selected, collision-free configurations (nodes). Planning then connects any given initial and final configurations of the robot to two nodes of the network and computes a path through the… 

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Randomized preprocessing of configuration space for path planning: articulated robots
  • L. Kavraki, J. Latombe
  • Computer Science
    Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)
  • 1994
TLDR
This paper describes the application of a recent approach to path planning for robots with many degrees of freedom (DOF) to articulated robots moving in two or three dimensional static environments and shows that after paying the preprocessing cost, planning is extremely fast for many difficult examples involving 7-DOF and 12- DOF robots.
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