Exploiting Visual Constraints in the Synthesis of Uncertainty-Tolerant Motion Plans I: The Directional Backprojection

In our earlier work, we have shown that visual constraint surfaces can be used t o effect visual guarded and visual compliant motions (which are analogous t o guarded and compliant motion using force control). Here we show how the backpro 'ection a proach to fine-motion plannin can be edended to e z p i i t visual constraints. Specij! cally, by deriving a con guration space rePTsentation of visual constraint sur P aces, we are able to tnclude visual constratnt sur aces as .boundaries of the directional jection planner for C = R2 that is based on Donald and Cann ' s plane-sweep algorithm for com uting the directional back projection, and discuss the e$ects o vithe modified algorithm. backprojection. d e describe an implemented backprosual constraints on the asymptotac trme complext f y of