Motion planning for multiple robots

Discrete and Computational Geometry

Volumn 22, Issue 4, 1999, Pages 505-525

  Aronov, B ^a   De Berg, M ^b   Van Der Stappen, A F ^b   Svestka P ^b   Vleugels, J ^b  

^a POLYTECHNIC UNIVERSITY   (United States)

^b UTRECHT UNIVERSITY   (Netherlands)

Author keywords

[No Author keywords available]

Indexed keywords

EID: 0033472685     PISSN: 01795376     EISSN: None     Source Type: Journal    
DOI: 10.1007/PL00009476     Document Type: Article

References (24)

1. R. Alami, F. Robert, F. Ingrand, and S. Suzuki. Multi-robot cooperation through incremental plan merging. In Proc. IEEE Internat. Conf. Robot. Automat., pages 2573-2578, 1995.
2. S. Basu, R. Pollack, and M.-F. Roy. Computing roadmaps of semi-algebraic sets on a variety. To appear in J. Amer. Math. Soc., October 1999.
3. S. Basu, R. Pollack, and M.-F. Roy. On computing a set of points meeting every semi-algebraically connected component of a family of polynomials on a variety. J. Complexity, 13:28-37, 1997.
4. J. Canny. The Complexity of Robot Motion Planning. ACM-MIT Press Doctoral Dissertation Award Series. MIT Press, Cambridge, MA, 1987.
5. J. Canny. Computing roadmaps in general semialgebraic sets. Comput. J., 36:409-418, 1993.
6. G. E. Collins. Quantifier elimination for real closed fields by cylindrical algebraic decomposition. In Proc. 2nd GI Conf. Autom. Theory Formal Lang., volume 33 of Lecture Notes in Computer Science, pages 134-183. Springer-Verlag, Berlin, 1975.
7. M. de Berg, M. J. Katz, A. F. van der Stappen, and J. Vleugels. Realistic input models for geometric algorithms. In Proc. 13th Ann. ACM Symp. Comput. Geom., pages 294-303, 1997.
8. M. Erdmann and T. Lozano-Pérez. On multiple moving objects. Algorithmica, 2:477-521, 1987.
9. S. J. Fortune, G. Wilfong, and C. Yap. Coordinated motion of two robot arms. In Proc. IEEE Internat. Conf. Robot. Autom., pages 1216-1223, 1986.
10. J. Hopcroft and G. Wilfong. Motion of objects in contact. Internat. J. Robot. Res., 4:32-46, 1986.
11. J. E. Hopcroft and G. T. Wilfong. Reducing multiple object motion planning to graph searching. SIAM J. Comput., 15:768-785, 1986.
12. K. Kedem, R. Livne, J. Pach, and M. Sharir. On the union of Jordan regions and collision-free translational motion amidst polygonal obstacles. Discrete Comput. Geom., 1:59-71, 1986.
13. J.-C. Latombe. Robot Motion Planning. Kluwer, Boston, 1991.
14. J. W. Milnor. On the Betti numbers of real algebraic varieties. Proc. Amer. Math. Soc., 15:275-280, 1964.
15. P. A. O'Donnell and T. Lozano-Pérez. Deadlock-free and collision-free coordination of two robotic manipulators. In Proc. IEEE Internat. Conf. Robot. Autom., pages 484-489, 1989.
16. J. T. Schwartz and M. Sharir. On the "piano movers" problem, II: general techniques for computing topological properties of real algebraic manifolds. Adv. in Appl. Math., 4:298-351, 1983.
17. J. T. Schwartz and M. Sharir. On the "piano movers" problem, III: coordinating the motion of several independent bodies: the special case of circular bodies moving amidst polygonal barriers. Internat. J. Robot. Res., 2(3):46-75, 1983.
18. O. Schwarzkopf and J. Vleugels. Range searching in low-density environments. Inform. Process. Lett., 60:121-127, 1996.
19. M. Sharir and S. Sifrony. Coordinated motion planning for two independent robots. Ann. Math. Artificial Intell., 3:107-130, 1991.
20. E. H. Spanier. Algebraic Topology. McGraw-Hill, New York, 1996.
21. A. F. van der Stappen. Motion Planning Amidst Fat Obstacles. Ph.D. dissertation, Department of Computer Science, Utrecht University, Utrecht, 1994.
22. A. F. van der Stappen, D. Halperin, and M. H. Overmars. The complexity of the free space for a robot moving amidst fat obstacles. Comput. Geom. Theory Appl., 3:353-373, 1993.
23. A. F. van der Stappen, M. H. Overmars, M. de Berg, and J. Vleugels. Motion planning in environments with low obstacle density. Discrete Comput. Geom., 20:561-587, 1998.
24. C. W. Warren. Multiple robot path coordination using artificial potential fields. In Proc. IEEE Internat. Conf. Robot. Autom., pages 500-505, 1990.