This paper describes a method of modeling the motion uncertainty of moving obstacles and its application to mobile robot motion planning. The method explicitly considers three sources of motion uncertainty: path ambiguity, velocity uncertainty, and observation uncertainty. The model is represented by a probabilistic distribution over possible position on a path of a moving obstacle. Using this ...

This article presents an approach to collision avoidance of industrial robots. It is based on the method of artificial potential or force fields. The field is generated by virtual charges which are placed on obstacles. The virtual force acts on the robot which results in the modification of the manipulator path to avoid collisions. Robot path modification is performed by means of impedance cont...

Planning corridors among obstacles has arisen as a central problem in game design. Instead of devising a one-dimensional motion path for a moving entity, it is possible to let it move in a corridor, where the exact motion path is determined by a local planner. In this paper we introduce a measure for the quality of such corridors. We analyze the structure of optimal corridors amidst point obsta...