Planning short paths with clearance using explicit corridors

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2010, Pages 1997-2004

  Geraerts, Roland ^a  

^a UTRECHT UNIVERSITY   (Netherlands)

Author keywords

[No Author keywords available]

Indexed keywords

CENTRAL PROBLEMS; COLLISION-FREE PATHS; IS PLANNING; SHORT-PATH; SHORTEST PATH; VIRTUAL ENVIRONMENTS;

DATA STRUCTURES; DATA VISUALIZATION; VIRTUAL REALITY;

ROBOTICS;

EID: 77955805223     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2010.5509263     Document Type: Conference Paper

References (29)

1. H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun, Principles of Robot Motion: Theory, Algorithms, and Implementations, 1st ed. MIT Press, 2005.
2. J.-C. Latombe, Robot Motion Planning. Kluwer, 1991.
3. S. LaValle, Planning Algorithms. Cambridge University Press, 2006. [Online]. Available: http://planning.cs.uiuc.edu
4. P. Hart, N. Nilsson, and B. Raphael, "A formal basis for the heuristic determination of minimum cost paths," IEEE Transactions on Systems Science and Cybernetics, vol. 4, pp. 100-107, 1968.
5. J. Barraquand, "Automatic motion planning for complex articulated bodies," Paris Research Laboratory, Tech. Rep., 1991.
6. C. Connolly and R. Grupen, "Harmonic control," in IEEE International Symposium on Intelligent Control, 1998, pp. 503-506.
7. J. Kuffner and S. LaValle, "RRT-connect: An efficient approach to single-query path planning," in IEEE International Conference on Robotics and Automation, 2000, pp. 995-1001.
8. L. Kavraki, P. Švestka, J.-C. Latombe, and M. Overmars, "Probabilistic roadmaps for path planning in high-dimensional configuration spaces," IEEE Transactions on Robotics and Automation, vol. 12, pp. 566-580, 1996.
9. J. Barraquand, L. Kavraki, J.-C. Latombe, T.-Y. Li, R. Motwani, and P. Raghavan, "A random sampling scheme for path planning," International Journal of Robotics Research, vol. 16, pp. 759-744, 1997.
10. R. Geraerts and M. Overmars, "Creating high-quality paths for motion planning," International Journal of Robotics Research, vol. 26, pp. 845-863, 2007.
11. K. Hoff, T. Culver, J. Keyser, M. Lin, and D. Manocha, "Fast computation of generalized voronoi diagrams using graphics hardware," in International Conference on Computer Graphics and Interactive Techniques, 1999, pp. 277-286.
12. H. Rohnert, "Moving a disc between polygons," Algorithmica, vol. 6, pp. 182-191, 1991.
13. 2 log n) time," Annual Symposium on Computational Geometry, pp. 214-220, 1985.
14. J. Storer and J. Reif, "Shortest paths in the plane with polygonal obstacles," Journal of the ACM, vol. 41, pp. 982-1012, 1994.
15. A. Kamphuis and M. Overmars, "Finding paths for coherent groups using clearance," in Eurographics/ ACM SIGGRAPH Symposium on Computer Animation, 2004, pp. 19-28.
16. J. Pettré, P. de Heras Ciechomski, J. Maïm, B. Yersin, J.-P. Laumond, and D. Thalmann, "Real-time navigating crowds: Scalable simulation and rendering," Computer Animation and Virtual Worlds, vol. 17, pp. 445-455, 2006.
17. R. Geraerts and M. Overmars, "The corridor map method: A general framework for real-time high-quality path planning," Computer Animation and Virtual Worlds, vol. 18, pp. 107-119, 2007.
18. R. Wein, J.P. van den. Berg, and D. Halperin, "The visibility-voronoi complex and its applications," Computational Geometry: Theory and Applications, vol. 36, pp. 66-87, 2007.
19. I. Karamouzas, R. Geraerts, and M. Overmars, "Indicative routes for path planning and crowd simulation." in The Fourth International Conference on the Foundations of Digital Games, 2009, pp. 113-120.
20. R. Geraerts and M. Overmars, "Enhancing corridor maps for real-time path planning in virtual environments," in Computer Animation and Social Agents, 2008, pp. 64-71.
21. H. Choset and J. Burdick, "Sensor-based exploration: The hierarchical generalized Voronoi graph," International Journal of Robotics Research, vol. 19, pp. 96-125, 2000.
22. M. de. Berg, M. van. Kreveld, M. Overmars, and M. Schwarzkopf, Computational Geometry: Algorithms and Applications. Springer-Verlag, Berlin, Germany, 2000.
23. M. Keil and J. Snoeyink, "On the time bound for convex decomposition of simple polygons," International Journal of Computational Geometry and Applications, vol. 12, pp. 181-192, 2002.
24. S. Hert, "2d polygon partitioning," in CGAL User and Reference Manual, 3rd ed., C. E. Board, Ed., 2007. [Online]. Available: http://www.cgal.org/Manual/3.3/doc-html/cgal-manual/packages.html
25. L. Guibas, J. Hershberger, D. Leven, M. Sharir, and R. Tarjan, "Linear-time algorithms for visibility and shortest path problems inside triangulated simple polygons," Algorithmica, vol. 2, pp. 209-233, 1987.
26. D. Demyen and M. Buro, "Efficient triangulation-based pathfinding," in 21st National conference on Artificial intelligence, 2006, pp. 942-947.
27. B. Chazelle, "Triangulating a simple polygon in linear time," Discrete & Computational Geometry, vol. 6, pp. 485-524, 1991.
28. J. Butcher, Numerical Methods for Ordinary Differential Equations. Wiley, 2003.
29. R. Geraerts, A. Kamphuis, I. Karamouzas, and M. Overmars, "Using the corridor map method for path planning for a large number of characters," in Motion in Games (MIG'08), ser. Lecture Notes in Computer Science, vol. 5277. Springer, 2008, pp. 11-22.