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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
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. ...
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  . ...doi:10.1007/10992388_4 fatcat:3ufm4h4awvdcfbbhefipt3r3kq
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
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  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
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
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
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
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
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
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
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. ...
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. ...
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
(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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