Hybrid motion planning: Coordinating two discs moving among polygonal obstacles in the plane

Springer Tracts in Advanced Robotics

Volumn 7 STAR, Issue , 2004, Pages 239-255

  Hirsch, Shai ^a   Halperin, Dan ^a  

^a TEL AVIV UNIVERSITY   (Israel)

Author keywords

[No Author keywords available]

Indexed keywords

COMPLETE SOLUTIONS; PROBABILISTIC ROADMAP;

ALGORITHMS; ROBOTICS;

MOTION PLANNING;

EID: 51349146108     PISSN: 16107438     EISSN: 1610742X     Source Type: Book Series    
DOI: 10.1007/978-3-540-45058-0_15     Document Type: Conference Paper

References (28)

1. N. Amato, O. Bayazit, L. Dale, C. Jones, and D. Vallejo. OBPRM: An obstacle-based PRM for 3D workspaces. In Proc. Int. Workshop on Alg. Found. of Rob., pages 155-168, 1998.
2. J. Bañon. Implementation and extension of the ladder algorithm. In Proc. IEEE Conf. on Rob. and Auto., pages 1548-1553, 1990.
3. J. Barraquand, L. E. Kavraki, J.-C. Latombe, T.-Y. Li, R. Motwani, and P. Raghavan. A random sampling scheme for path planning. Internat. J. Robot. Res., 16(6):759-774, 1997.
4. J. Basch, L. Guibas, D. Hsu, and A. Nguyen. Disconnection proofs for motion planning. In Proc. IEEE Int. Conf. on Rob. and Auto., pages 1765-1772, 2001.
5. V. Boor, M. Overmars, and A. van der Stappen. The Gaussian sampling strategy for probabilistic roadmap planners. In Proc. IEEE Int. Conf. on Rob. and Auto., pages 1018-1023, 1999.
6. J. Canny. The Complexity of Robot Motion Planning. ACM - MIT Press Doctoral Dissertation Award Series. MIT Press, Cambridge, MA, 1987.
7. CGAL. The Computational Geometry Algorithms Library. www.cgal.org.
8. L. Dale and N. Amato. Probabilistic roadmaps - putting it all together. In Proc. IEEE Int. Conf. on Rob. and Auto., 2001.
9. M. de Berg, M. van Kreveld, M. Overmars, and O. Schwarzkopf. Computational Geometry: Algorithms and Applications. Springer-Verlag, Berlin, Germany, 2nd edition, 2000.
10. E. Flato. Robust and efficient construction of planar Minkowski sums. Master's thesis, Dept. Comput. Sci., Tel-Aviv Univ., 2000.
11. E. Flato, D. Halperin, I. Hanniel, O. Nechushtan, and E. Ezra. The design and implementation of planar maps in CGAL. The ACM Journal of Exper. Alg., 5, 2000.
12. Also in LNCS Vol. 1668 (WAE '99), Springer, pp. 154-168.
13. R. Geraerts and M. Overmars. A comparative study of probabilistic roadmap planners. These proceedings.
14. D. Halperin. Robust geometric computing in motion. International Journal of Robotics Research, 21(3):219-232, 2002.
15. I. Hanniel and D. Halperin. Two-dimensional arrangements in cgal and adaptive point location for parametric curves. In Proc. 4th Workshop on Alg. Eng., 2000.
16. S. Hirsch and E. Leiserowitz. Exact construction of Minkowski sums of polygons and a disc with application to motion planning. Technical Report ECG-TR-181205-01, Tel-Aviv University, 2002.
17. D. Hsu, L. E. Kavraki, J.-C. Latombe, R. Motwani, and S. Sorkin. On finding narrow passages with probabilistic roadmap planners. In Proc. Int. Workshop on Alg. Found. Rob., Wellesley, MA, 1998. A. K. Peters.
18. L. E. Kavraki, P. Švestka, J.-C. Latombe, and M. Overmars. Probabilistic roadmaps for path planning in high dimensional configuration spaces. IEEE Trans. Robot. Autom., 12:566-580, 1996.
19. J.-C. Latombe. Robot Motion Planning. Kluwer Academic Publishers, Boston, 1991.
20. S. LaValle and M. Branicky. On the relationship between classical grid search and probabilistic roadmaps. These proceedings.
21. K. Mehlhorn and S. Näher. The LEDA Platform of Combinatorial and Geometric Computing. Cambridge University Press, 1999.
22. J. H. Reif. Complexity of the mover's problem and generalizations. In Proc. 20th Annu. IEEE Sympos. Found. Comput. Sci., pages 421-427, 1979.
23. 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., 4:298-351, 1983.
24. M. Sharir. Algorithmic motion planning. In J. E. Goodman and J. O'Rourke, editors, Handbook of Discrete and Comput. Geom., chapter 40, pages 733-754. CRC Press LLC, Boca Raton, FL, 1997.
25. M. Sharir and S. Sifrony. Coordinated motion planning for two independent robots. Ann. Math. Artif. Intell., 3:107-130, 1991.
26. H. Shaul and D. Halperin. Improved construction of vertical decompositions of three dimensional arrangements. In Proc. 18th Annu. ACM Sympos. Comput. Geom., pages 283-292, 2002.
27. P. Švestka and M. Overmars. Coordinated path planning for multiple robots. Robotics and Autonomous Systems, 23:125-152, 1998.
28. R. Wein. High level filtering for arrangements of conic arcs. In Proc. 10th European Symposium on Algorithms, volume 2461 of Lecture Notes in Computer Science, pages 884-895. Springer-Verlag, Rome, 2002.