Star-shaped roadmaps - A deterministic sampling approach for complete motion planning

Robotics: Science and Systems

Volumn 1, Issue , 2005, Pages 25-32

  Varadhan, Gokul ^a   Manocha, Dinesh ^a  

^a UNIVERSITY OF NORTH CAROLINA   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

AGRICULTURAL ROBOTS; DEGREES OF FREEDOM (MECHANICS); MOTION PLANNING; ROBOTICS; ROBOTS;

COLLISION-FREE PATHS; COMPLETE MOTION PLANNING; DETERMINISTIC SAMPLING; DETERMINISTIC SAMPLING APPROACH; EXPLICIT REPRESENTATION; REGION CONNECTIVITIES; ROTATIONAL DEGREES OF FREEDOM; SIMPLE ALGORITHM;

STARS;

EID: 46749131825     PISSN: None     EISSN: 2330765X     Source Type: Conference Proceeding    
DOI: 10.15607/rss.2005.i.004     Document Type: Conference Paper

References (16)

1. N. Amato, O. B. Bayazit, L. K. Dale, C. Jones, and D. Vallejo. OBPRM: An obstacle-based PRM for 3D workspaces. In P. K. Agarwal, L. E. Kavraki, and M. Mason, editors, Workshop on Algorithmic Foundations of Robotics. A. K. Peters, Wellesley, MA, 1998.
2. J. Basch, L. J. Guibas, D. Hsu, and A. Nguyen. Disconnection proofs for motion planning. In International Conference on Robotics and Automation, pages 1765-1772, 2001.
3. J. Canny. The Complexity of Robot Motion Planning. ACM Doctoral Dissertation Award. MIT Press, 1988.
4. N. Delanoue, L. Jaulin, and B. Cottenceau. Using interval arithmetic to prove that a set is path-connected. Theoretical Computer Science, Special issue: Real Numbers and Computers., 2004.
5. L. Kavraki, P. Svestka, J. C. Latombe, and M. Overmars. Probabilistic roadmaps for path planning in high-dimensional confi guration spaces. IEEE Trans. Robot. Automat., pages 12(4):566-580, 1996.
6. J. Latombe. Robot Motion Planning. Kluwer Academic Publishers, 1991.
7. J. Latombe. Motion planning: A journey of robots, molecules, digital actors, and other artifacts. International Journal of Robotics Research, pages 1119-1128, 1999.
8. T. Lozano-Pérez and M. Wesley. An algorithm for planning collisionfree paths among polyhedral obstacles. Comm. ACM, 22(10):560-570, 1979.
9. J. O'Rourke. Art Gallery Theorems and Algorithms. The International Series of Monographs on Computer Science. Oxford University Press, New York, NY, 1987.
10. J. T. Schwartz and M. Sharir. On the piano movers probelem ii, general techniques for computing topological properties of real algebraic manifolds. Advances of Applied Maths, 4:298-351, 1983.
11. T. Simeon, J. P. Laumond, and C. Nissoux. Visibility based probabilistic roadmaps for motion planning. Advanced Robotics Journal, 14(6), 2000.
12. J. M. Snyder. Interval analysis for computer graphics. In E. E. Catmull, editor, Computer Graphics (SIGGRAPH '92 Proceedings), volume 26, pages 121-130, July 1992.
13. G. Varadhan, S. Krishnan, T. V. N. Sriram, and D. Manocha. A simple algorithm for complete motion planning of translating polyhedral robots. In Workshop on Algorithmic Foundations of Robotics, 2004.
14. G. Varadhan, S. Krishnan, T. V. N. Sriram, and D. Manocha. Topology preserving surface extraction using adaptive subdivision. In Eurographics Symposium on Geometry Processing, 2004.
15. G. Varadhan and D. Manocha. Star-shaped roadmaps-A deterministic sampling approach for complete motion planning. UNC Technical Report TR05-001, URL: http://gamma.cs.unc.edu/motion/, 2005.
16. S. A. Wilmarth, N. M. Amato, and P. F. Stiller. Maprm: A probabilistic roadmap planner with sampling on the medial axis of the free space. IEEE Conference on Robotics and Automation, pages 1024-1031, 1999.