Motion planning in R3 for multiple tethered robots

IEEE Transactions on Robotics and Automation

Volumn 15, Issue 4, 1999, Pages 623-639

  Hert, Susan ^b   Lumelsky, Vladimir ^a,c  

^a IEEE

^b MAX PLANCK INSTITUTE FOR INFORMATICS   (Germany)

^c UNIVERSITY OF WISCONSIN MADISON   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; COMPUTER SIMULATION; MOTION PLANNING; ROBOT APPLICATIONS; ROBOTICS;

TETHERED ROBOTS; UNDERWATER ROBOTICS;

MOBILE ROBOTS;

EID: 0032685416     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.781966     Document Type: Article

References (30)

1. J. Canny, The Complexity of Robot Motion Planning. Cambridge, MA: MIT Press, 1988.
2. J. Hopcroft, J. Schwartz, and M. Sharir, "On the complexity of motion planning for multiple independent objects; PSPACE-hardness of the 'warehouse-man's problem'," Int. J. Robot. Res., vol. 3, no. 4, pp. 76-88, 1984.
3. J. Reif and M. Sharir, "Motion planning in the presence of moving obstacles," in Proc. 26th IEEE Symp. Foundations Comput. Sci., 1985, pp. 144-154.
4. P. Spirakis and C. K. Yap, "Strong NP-hardness of moving many discs," Inform. Process. Lett., vol. 19, no. 1, pp. 55-59, July 1984.
5. K. Sutner and W. Maass, "Motion planning among time dependent obstacles," Acta Inform., vol. 26, no. 1, pp. 93-122, Oct. 1988.
6. D. Parsons and J. Canny, "A motion planner for multiple mobile robots," in Proc. 1990 IEEE Int. Conf. Robot. Automat., May 1990, pp. 8-13.
7. J. Schwartz and M. Sharir, "On the 'piano movers' problem: II. General techniques for computing topological properties of real algebraic manifolds," Adv. Appl. Math., vol. 4, pp. 298-351, 1983.
8. S. Buckley, "Fast motion planning for multiple moving robots," in Proc. 1989 IEEE Int. Conf. Robot. Automat., May 1989, pp. 322-326.
9. M. Erdmann and T. Lozano-Pérez, "On multiple moving objects," Algorithmica, vol. 2, pp. 477-521, 1987.
10. S. Hert and V. Lumelsky, "The ties that bind: Motion planning for multiple tethered robots," Robot. Auton. Syst., vol. 17, pp. 187-215, 1996.
11. K. Kant and S. W. Zucker, "Toward efficient trajectory planning: The path-velocity decomposition," Int. J. Robot. Res., vol. 5, no. 3, pp. 72-89, 1986.
12. R. C. Luo and T. Pan, "On dynamic motion planning problems," in Proc. 1991 IEEE Int. Conf. Robot. Automat., Sacramento, CA, Apr. 1991, pp. 1073-1078.
13. J. Choi, J. Sellen, and C. K. Yap, "Approximate Euclidean shortest path in 3-space," in Proc. 10th Ann. ACM Symp. Computat. Geo., Stony Brook, NY, June 1994, pp. 41-48.
14. K. L. Clarkson, "Approximation algorithms for shortest path motion planning," in Proc. 19th Annu. ACM Symp. Theory Comput., 1987, pp. 56-65.
15. C. H. Papadimitriou, "An algorithm for shortest-path motion in three dimensions," Inform. Process. Lett., vol. 20, pp. 259-263, 1985.
16. M. Sharir and A. Schorr, "On shortest paths in polyhedral spaces," SIAM J. Comput., vol. 15, no. 1, pp. 193-215, Feb. 1986.
17. J. Canny and J. H. Reif, "New lower bound techniques for robot motion planning problems," in Proc. 28th Annu. IEEE Symp. Foundations Comput. Sci., 1987, pp. 49-60.
18. C. Bajaj, "The algebraic complexity of shortest paths in polyhedral spaces," in Proc. 23rd Allerton Conf. Commun., Contr., Comput., 1985, pp. 510-517.
19. J. Chen and Y. Han, "Shortest paths on a polyhedron," in Proc. 6th Ann. Symp. Computat. Geo., June 1990, pp. 360-369.
20. 3," Tech. Rep. WUCS-94-31, Washington Univ., Seattle, WA, 1994.
21. J. S. B. Mitchell, D. M. Mount, and C. H. Papadimitriou, "The discrete geodesic problem," SIAM J. Comput., vol. 16, no. 4, pp. 647-668, Aug. 1987.
22. D. Mount, "On finding shortest paths on convex polyhedra," Tech. Rep. CAR-TR-120, Univ. Maryland, College Park, 1985.
23. J. O'Rourke, S. Suri, and H. Boot, "Shortest paths on polyhedral surfaces," in Proc. Symp. Theoretical Aspects Comput. Sci., 1985, pp. 243-254.
24. M. Sharir, "On shortest paths amidst convex polyhedra," Tech. Rep. 181, Dept. Comput. Sci., New York Univ., Sept. 1985.
25. M. Sharir and A. Baltsan, "On shortest paths amidst convex polyhedra," in Proc. 2nd Symp. Computat. Geo., 1986, pp. 193-206.
26. B. H. Lee and C. S. G. Lee, "Collision-free motion planning of two robots," IEEE Trans. Syst., Man Cybern., vol. SMC-17, pp. 21-32, Jan./Feb. 1987.
27. K. G. Shin and Q. Zheng, "Minimum-time collision-free trajectory planning for dual-robot systems," IEEE Trans. Robot. Automat., vol. 8, pp. 641-644, Oct. 1992.
28. M. R. Garey, D. S. Johnson, and R. Sethi, "Thecomplexity of flowshop and jobshop scheduling," Math. Oper. Res., vol. 1, pp. 117-129, 1976.
29. L. A. Hall, "Appoximability of flow shop scheduling," in Proc. 1995 Foundations Comput. Sci., 1995, pp. 82-91.
30. F. Preparata and M. Shamos, Computational Geometry. New York: Springer-Verlag, 1985.