Extensions of Basic Motion Planning
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Multimedia Contents Motion Plan 139 Part A | 7 . 1 7 . Motion Planning
This chapter first provides a formulation of the geometric path planning problem in Sect. 7.2 and then introduces sampling-based planning in Sect. 7.3. Sampling-based planners are general techniques applicable to a wide set of problems and have been successful in dealing with hard planning instances. For specific, often simpler, planning instances, alternative approaches exist and are presented...
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Self-reconfigurable robots are versatile systems consisting of large numbers of independent modules. Effective use of these systems requires parallel actuation and planning, both for efficiency and independence from a central controller. This paper presents the PacMan algorithm, a technique for distributed actuation and planning. This algorithm works on systems with twoor three-dimensional unit...
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A fundamental robotics task is to plan collision-free motions for complex bodies from a start to a goal position among a collection of static obstacles. Although relative simple, this geometric path planning problem is provably computationally hard [84]. Extensions of this formulation take into account additional constraints that are inherited from mechanical and sensor limitations of real robo...
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تاریخ انتشار 2007