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On fast planning of suboptimal paths amidst polygonal obstacles in plane

Nageswara S.V. Rao
1995 Theoretical Computer Science  
The problem of planning a path for a point robot from a source point s to a destination point d so as to avoid a set of polygonal obstacles in plane is considered.  ...  For all these algorithms, upper bounds on the path lengths are estimated in terms of the shortest of the obstacles, etc.  ...  Acknowledgment The support of this work by Oscar Manley of the Basic Energy Sciences Program in the Department of Energy, and of Reinhold Mann and E.M.  ... 
doi:10.1016/0304-3975(94)00194-n fatcat:tbendy4dajeevgbqtjh65raovi

Page 7785 of Mathematical Reviews Vol. , Issue 96m [page]

1996 Mathematical Reviews  
V. (1-ORNL-IS; Oak Ridge, TN) On fast planning of suboptimal paths amidst polygonal obstacles in plane. (English summary) Theoret. Comput. Sci. 140 (1995), no. 2, 265-289.  ...  Summary: “The problem of planning a path for a point robot from a source point s to a destination point d so as to avoid a set of polygonal obstacles in the plane is considered.  ... 

Path Planning in Dynamic Environments [chapter]

Roman Smierzchalski, Zbigniew Michalewicz
2005 Studies in Computational Intelligence  
en geel: 'Lentewandeling' (detail) Printed in The Netherlands by Drukkerij Bariet, Ruinen  ...  Typesetting: This thesis was typeset by the author using L AT E X 2 Cover design: The cover was designed by Lucius, Groningen, using Adobe Illustrator CS2 Cover illustration: Lucius, Compositie 29 in groen  ...  Anytime path planning and replanning in dynamic environments. In Proc. IEEE Int. Conf. on Robotics and Automation, pages 2366-2371, 2006 [16] .  ... 
doi:10.1007/10992388_4 fatcat:3ufm4h4awvdcfbbhefipt3r3kq

Sliced Configuration Spaces for Curved Planar Bodies

Elisha Sacks, Chandrajit Bajaj
1998 The international journal of robotics research  
We present the first practical, implemented configuration space computation algorithm for a curved planar object translating and rotating amidst stationary obstacles.  ...  The program is simple, fast, and robust. The slice representation is a natural and efficient abstract data type for geometric computations in robotics and engineering.  ...  Supported in part by NSF grant CCR 92-22467, NSF grant CCR-9505745, AFOSR grant F49620-94-1-0080, and ONR grant N00014-94-1-0370.  ... 
doi:10.1177/027836499801700604 fatcat:ki7xgqimdjcd5kfbejitfiesqq

A Survey of Motion Planning and Control Techniques for Self-driving Urban Vehicles [article]

Brian Paden, Michal Cap, Sze Zheng Yong, Dmitry Yershov, Emilio Frazzoli
2016 arXiv   pre-print
The surveyed approaches differ in the vehicle mobility model used, in assumptions on the structure of the environment, and in computational requirements.  ...  The objective of this paper is to survey the current state of the art on planning and control algorithms with particular regard to the urban setting.  ...  In contrast, Lazard, Reif and Wang [70] established that the problem of finding a shortest curvature-bounded path in a 2-D plane amidst polygonal obstacles (i.e., a path for a car-like robot) is NP-hard  ... 
arXiv:1604.07446v1 fatcat:ajwztawbwra6tpw2zf67uncevm

Technical Report: A Hierarchical Deliberative-Reactive System Architecture for Task and Motion Planning in Partially Known Environments [article]

Vasileios Vasilopoulos, Sebastian Castro, William Vega-Brown, Daniel E. Koditschek, Nicholas Roy
2022 arXiv   pre-print
We leverage the recent development of a reactive, vector field planner that provides guarantees of reachability to large regions of the environment even in the face of unknown or unforeseen obstacles.  ...  The result is reduced computational cost of synthesizing plans, and increased robustness of generated plans to actuator noise, model misspecification, or unknown obstacles.  ...  (c) An example of a complex dynamically-constrained domain in which a robot must reach the goal on the lower right, where the heights of the ground plane (z = 0), the obstacle (z = 1), and the goal (z  ... 
arXiv:2202.01385v1 fatcat:jx3mxqfm7rgd3oz4vrc7rjbmmq

Robot Path Planning Algorithms: A Review of Theory and Experiment [article]

Hadi Jahanshahi, Naeimeh Najafizadeh Sari
2018 arXiv   pre-print
The aim of this book is to introduce different robot path planning algorithms and suggest some of the most appropriate ones which are capable of running on a variety of robots and are resistant to disturbances  ...  Sankaranarayanan A, Vidyasagar M (1990) A new path planning algorithm for moving a point object amidst unknown obstacles in a plane. In: Robotics and Automation, 1990.  ...  Lumelsky V (1987b) Effect of kinematics on motion planning for planar robot arms moving amidst unknown obstacles.  ... 
arXiv:1805.08137v3 fatcat:45kvx2a645egxdtjsfcats2xim

Resolution-Exact Planner for Thick Non-Crossing 2-Link Robots [article]

Chee K. Yap, Zhongdi Luo, Ching-Hsiang Hsu
2017 arXiv   pre-print
We consider the path planning problem for a 2-link robot amidst polygonal obstacles.  ...  Our open-source implementation in Core Library achieves real-time performance for a suite of combinatorially non-trivial obstacle sets.  ...  Introduction Motion planning is one of the key topics of robotics [9, 3] .  ... 
arXiv:1704.05123v1 fatcat:sfmupbig4bbl5kd3cpyp2p3xsm

Robotics

J. U. Korein, J. Ish-Shalom
1987 IBM Systems Journal  
Sharir, On the Piano Mover’s Problem I: The Case of a Two Dimensional Rigid Polygonal Body Moving Amidst Polygonal Barriers, CS Report 39, NYU Courant Institute (October 1981); may be obtained through  ...  through an environment of grown obstacles, as in Figure 10B.**°* This important trans- formation greatly simplifies the problem and leads to a direct solution for distance-optimal paths for polygons in  ... 
doi:10.1147/sj.261.0055 fatcat:ikaq2mwkefbxlpfqex5copv52y

Toward an exact incremental geometric robot motion planner

M. Barbehenn, S. Hutchinson
Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots  
In the example, after computing a n initial representation of the robot's free space, the algorithm maintains the representation as obstacles are moved between planning problems.  ...  In this paper we introduce a new class of geometric robot motion planning problems that we call incremental problems.  ...  In this paper, we focus on the particular case of a line segment moving amidst polygonal obstacles, which are moved incrementally between planning problems.  ... 
doi:10.1109/iros.1995.525859 dblp:conf/iros/BarbehennH95 fatcat:zl5wdwlaxvampewgcuzzjssg6a

Escaping a Polygon [article]

Zachary Abel, Hugo Akitaya, Erik D. Demaine, Martin L. Demaine, Adam Hesterberg, Jason S. Ku, Jayson Lynch
2021 arXiv   pre-print
On the negative side, we prove NP-hardness of the problem for polyhedral domains in 3D, and prove stronger results (PSPACE-hardness and NP-hardness even to approximate) for generalizations to multiple  ...  Suppose an "escaping" player moves continuously at maximum speed 1 in the interior of a region, while a "pursuing" player moves continuously at maximum speed r outside the region.  ...  We also thank anonymous referees for helpful comments leading us to formulating precise definitions of the model. Supported in part by the NSERC.  ... 
arXiv:2007.08965v2 fatcat:44qxo5wiovhb7mjo3pjzkokbmi

Page 1522 of Mathematical Reviews Vol. 28, Issue Index [page]

Mathematical Reviews  
On fast planning of suboptimal paths amidst polygonal obstacles in plane. (English summary) 96m:68189 Rappaport, David Minimum polygon transversals of line segments.  ...  Shortest paths in the plane with polygonal obstacles (English summary) 96i:68086 — see also Reif, John H., 96i:68085 Sundaram, Gopalakrishnan see Mitchell, Joseph S.  ... 

Page 988 of Mathematical Reviews Vol. 28, Issue Index [page]

Mathematical Reviews  
On fast planning of suboptimal paths amidst polygonal obstacles in plane.  ...  Shortest paths in the plane with polygonal obstacles. (English summary) 96i:68086 — see also Reif, John H., 96i:68085 Sundaram, Gopalakrishnan see Mitchell, Joseph S.  ... 

Aalborg Universitet 3D Path Planning for Autonomous Aerial Vehicles in Constrained Spaces Schøler, Flemming 3D Path Planning for Autonomous Aerial Vehicles in Constrained Spaces 3D Path Planning for Autonomous Aerial Vehicles in Constrained Spaces

Flemming Schøler, Thesis
2012 unpublished
Planning in a cluttered environment The method is demonstrated on a UAV flying amidst eight obstacles. The UAV must visit five VPs and all five paths are initially planned.  ...  The shortest path for a sphere amidst polyhedral obstacles is a combination of paths on the surface of the obstacles and supporting lines.  ... 
fatcat:kkxks3l3ozg7fhgq4awkjwbwbe

Page 1206 of Mathematical Reviews Vol. 28, Issue Index [page]

Mathematical Reviews  
(Summary) 96j:90026 90Bxx (68T05) — On fast planning of suboptimal paths amidst polygonal obstacles in plane. (English summary) Theoret. Comput. Sci. 140 (1995), no. 2, 265-289.  ...  Neyman allocation in stratified sampling revisited. (English summary) J. Assam Sci. Soc. 36 (1994), no. 4, 227-233. 62D05 Rao, T.S.S. R. K. On a theorem of Dunford, Pettis and Phillips.  ... 
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