Randomized Query Processing in Robot Path Planning

Journal of Computer and System Sciences

Volumn 57, Issue 1, 1998, Pages 50-60

  Kavraki, Lydia E ^a   Latombe, Jean Claude ^a   Motwani, Rajeev ^b   Raghavan, Prabhakar ^c  

^a STANFORD UNIVERSITY   (United States)

^b Stanford University   (United States)

^c IBM ALMADEN RESEARCH CENTER   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

DATA PROCESSING; MATHEMATICAL MODELS; QUERY LANGUAGES; RANDOM PROCESSES; ROBOTS; THEOREM PROVING;

RANDOMIZATION;

MOTION PLANNING;

EID: 0032136910     PISSN: 00220000     EISSN: None     Source Type: Journal    
DOI: 10.1006/jcss.1998.1578     Document Type: Article

References (36)

1. J. Barraquand, B. Langois, and J.-C. Latombe, Potential Fields for Robot motion planning, IEEE Trans. Systems Man Cybern. 22, No. 2 (1992), 224-241.
2. J. Barraquand and J.-C. Latombe, Robot motion planning: A distributed representation approach, Internat. J. Robot. Res. 10 (1991), 628-649.
3. J. F. Canny, "The Complexity of Robot Motion Planning," MIT Press, Cambridge, MA, 1988.
4. J. F. Canny and J. H. Reif, New lower bound techniques for robot motion planning problems, in "Proceedings, 28th IEEE Symposium on Foundations of Computer Science," pp. 49-60, Los Angeles, CA, 1987.
5. J. E. Hopcroft, D. A. Joseph, and S. H. Whitesides, Movement problems for 2-dimensional linkages, SIAM J. Comput. 13, No. 3 (1984), 610-629.
6. J. E. Hopcroft, D. A. Joseph, and S. H. Whitesides, On the movement of robot arms in 2-dimensional bounded regions, SIAM J. Comput. 14, No. 2 (1985), 315-333.
7. J. E. Hopcroft, J. T. Schwartz, and M. Sharir, On the complexity of motion planning for multiple independent objects: PSPACE-hardness of the "Warehouseman's Problem", Internat. J. Robot. Res. 3, No. 4 (1984), 76-88.
8. J. E. Hopcroft and G. T. Wilfong, Motions of objects in contact, SIAM J. Comput. 15, No. 3 (1984), 768-785.
9. Th. Horsch, F. Schwarz, and H. Tolle, Motion planning for many degrees of freedom - Random reflections at c-space obstacles, in "Proceedings of the IEEE International Conference on Robotics and Automation, San Diego, CA, 1994," pp. 3318-3323.
10. D. Hsu, J.-C. Latombe, and R. Motwani, Path planning in expansive configuration spaces, in "Proceedings, IEEE International Conference on Robotics and Automation, Minneapolis, MN, 1997."
11. D. A. Joseph and W. H. Plantiga, On the complexity of reachability and motion planning questions, in "Proceedings, First ACM Symposium on Computational Geometry, Baltimore, MD, 1985," pp. 62-66.
12. G. Kalai and J. Matoušek, Guarding galleries in which every point can see a large area, Israel J. Math., in press.
13. V. Kantabutra and S. R. Kosaraju, New algorithms for multilink robot arms, J. Comput. System Sci. 32, No. 1 (1986), 136-153.
14. L. Kavraki and J. -C. Latombe, Randomized preprocessing of configuration space for fast path planning, in "Proceedings, IEEE International Conference on Robotics and Automation, San Diego, CA, 1994," pp. 2138-2145.
15. L. Kavraki, P. Švestka, J.-C. Latombe, and M. Overmans, "Probabilistic Roadmaps for Path Planning in High Dimensional Configuration Spaces," Technical Report STAN-CS-TR-94-1519, Department of Computer Science, Stanford University, 1994.
16. L. Kavraki, J.-C. Latombe, R. Motwani, and P. Raghavan, Randomized query processing in robot path planning, in "Proceedings, 27th Annual ACM Symposium on Theory of Computing, Las Vegas, NV, 1995," pp. 353-362.
17. L. Kavraki, "Random Networks in Configuration Space for Fast Path Planning," Ph.D. thesis, Stanford University, 1995. [Technical Report STAN-CS-TR-95-1535, Department of Computer Science, Stanford University, 1995]
18. L. Kavraki, Geometry and the discovery of new ligands, in "Algorithms for Robotic Motion and Manipulation" (J.-P. Laumond and M. Overmars, Eds.), pp. 435-448, A. K. Peters, 1997.
19. O. Khatib, Real-time obstacle avoidance for manipulators and mobile robots, Internat. J. Robot. Res. 5, No. 1 (1986), 90-98.
20. Y. Koga, "On Computing Multi-arm Manipulation Trajectories," Technical Report STAN-CS-TR-95-1530, Stanford University, 1994.
21. J.-C. Latombe, "Robot Motion Planning," Kluwer Academic, Dordrecht, 1991.
22. S. R. Lay, "Convex Sets and Their Applications," Wiley, New York, 1982.
23. L. Lovász and N. Young, "Lecture Notes on Evasiveness of Graph Properties," Technical Report CS-TR-317-91, Computer Science Department, Princeton University, 1991.
24. T. Lozano-Pérez, Automatic planning of manipulator transfer movements, IEEE Trans. Systems Man Cybern. SMC-11, No. 10 (1981), 681-698.
25. T. Lozano-Pérez, Spatial planning: A configuration space approach, IEEE Trans. Comput. 32 (1983), 108-120.
26. T. Lozano-Pérez and M. A. Wesley, An algorithm for planning collision-free paths among polyhedral obstacles, Comm. ACM 22, No. 10 (1979), 560-570.
27. N. J. Nilsson, A mobile automaton: An application of artificial intelligence techniques, in "Proceedings, 1st International Joint Conference on Artificial Intelligence, Washington, DC, 1969," pp. 509-520.
28. J. O'Rourke, "Art Gallery Theorems and Algorithms," Oxford Univ. Press, Oxford, 1987.
29. M. Overmars and P. Švestka, A probabilistic learning approach to motion planning, in "Proceedings, Workshop on Algorithmic Foundations of Robotics," 1994.
30. M. Overmars, "A Random Approach to Motion Planning," Technical Report RUU-CS-92-32, Department of Computer Science, Utrecht University, 1992.
31. S. Quinlan, Efficient distance computation between non-convex objects, in "Proceedings, IEEE International Conference on Robotics and Automation, 1994," pp. 3324-3329.
32. J. H. Reif, Complexity of the Mover's Problem and Generalizations, in "Proceedings, 20th IEEE Symposium on Foundations of Computer Science, 1979," pp. 421-427.
33. J. H. Reif and M. Sharir, Motion planning in the presence of moving obstacles, in "Proceedings, 25th IEEE Symposium on Foundations of Computer Science, 1985," pp. 144-154.
34. J. T. Schwartz and M. Sharir, On the "Piano Movers" Problem. II. General techniques for computing topological properties of real algebraic manifolds, Adv. Appl. Math. 4 (1983), 298-351.
35. S. Udupa, "Collision Detection and Avoidance in Computer Controlled Manipulators," Ph.D. thesis, Department of Electrical Engineering, California Institute of Technology, 1977.
36. P. Valtr, Guarding galleries where no point sees a small area, Israel J. Math., in press.