W Feee Cbniputer S P Fast, Three-dimensional, Collision -free Motion Planning

Abstract

Issues dealing with fast, 3-D, collision-free motion planning are discussed, and a fast path planning system under developnlent at NBS i s described. The components of a general motion planner are outlined, and some of their computational aspects are discussed. It is argued that an octree representation of the obstacles in the world leads to fast path… (More)

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