Robotic motion planning requires configuration space exploration. In high-dimensional configuration spaces, a complete exploration is computationally intractable. To devise practical motion planning algorithms in such high-dimensional spaces, computational resources have to be expended in proportion to the local complexity of a configuration space region. We propose a novel motion planning appr...

numerical analysis of longitudinal and transverse surface settlement induced by epb tunneling- a case study: shiraz subway tunnels reza rahmannejad; mahdi esfandiary; eshagh namazi; hamed jamshidi             determination of the racking reduction factor for an incomplete ellipse shaped tunnel considering the soil-structure interaction mohammad reza momenzadeh; mohammad reza mansoori; armin azi...

Chapter 1 and 2 of [Lat91]: Chapter 1 is an overview of motion planning and some overview of planning algorithms, such as Roadmap, Cell Decomposition and Potential field. Chapter 2 gives mathematical description about configuration space and obstacles, especially about the manifold structure of configuration space (embedding, parameterization, chart, atlas, connectedness, path, metric definitio...

Despite the long history of classical planning, there has been very little comparative analysis of the performance tradeoffs offered by the multitude of existing planning algorithms. This is partly due to the many different vocabularies within which planning algorithms are usually expressed. In this paper, I show that refinement search provides a unifying framework within which various planning...

This paper addresses the issue of path planning in a virtual environment (VE) for the control of an Internet-based robot manipulator. A hybrid method is proposed in which the dimension of the path-planning problem is reduced by separating the problem of planning the position of the gripper from that of planning the pose of the gripper. A global configuration-space technique is used for the form...

In the context of state space planning, a mutex pair is a pair of variable-value assignments that does not occur in any reachable state. Detecting mutex pairs is a problem that has been addressed frequently in the planning literature. In this paper, we present the Missing Mass Method (MMM)—a new efficient and domain-independent method for mutex pair detection, based on sampling reachable states...

While even STRIPS planners must search for plans of unbounded length, temporal planners must also cope with the fact that actions may start at any point in time. Most temporal planners cope with this challenge by restricting action start times to a small set of decision epochs, because this enables search to be carried out in state-space and leverages powerful state-based reachability heuristic...

Domain-independent planning is one of the foundational areas in the field of Artificial Intelligence. A description of a planning task consists of an initial world state, a goal, and a set of actions for modifying the world state. The objective is to find a sequence of actions, that is, a plan, that transforms the initial world state into a goal state. In optimal planning, we are interested in ...