For a flying military vehicle, avoiding detection can be a key objective. To achieve this, flying the least-probability-of-detection path from A to B through a field of detectors is a fundamental strategy. While most of the previous optimization models aim to minimize the cumulative radar exposure, this paper derives a model that can directly minimize the probability of being detected. Furtherm...

The ability to create su ciently detailed natural phenomena is important for building virtual environments, unfortunately this is a laborious task. Although various procedural techniques are available, new techniques that can ease the burden on digital artists are highly sought after. The use of path planning techniques that originate from arti cial intelligence is a viable avenue for the gener...

In this paper we discuss path planning in a special class of dynamic environments, namely repetitive environments, in which the motions of the moving obstacles are periodic (i.e. repetitive). For such environments it is possible to generate a roadmap in a preprocessing stage, which can be used multiple times to quickly solve individual planning queries. This in contrast to general dynamic envir...

This paper presents a discrete model of a sensor path planning problem, with a long-term planning horizon. The goal is to minimize the covariance of the reconstructed structures while meeting constraints on the length of the traversed path of the sensor. The sensor is restricted to move on a graph representing a discrete set of configurations, and additional constraints can be incorporated by a...

Path planning quickly becomes computationally hard as the dimensionality of the state-space increases. In this paper, we present a planning algorithm intended to speed up path planning for high-dimensional state-spaces such as robotic arms. The idea behind this work is that while planning in a highdimensional state-space is often necessary to ensure the feasibility of the resulting path, large ...

Path Planning Using Laplace’s Equation C. I. Connolly J. B. Burns R. Weiss Computer and Information Science Department, University of Massachusetts at Amherst *

In risky applications it is advantageous to use multiple robots in order to improve performances. In a research or patrol scenario robots have to move cooperatively in order to avoid collisions and to improve performance. In this paper we describe the implementation of two variations of a cooperative planning algorithm: Cooperative A* and Cooperative Voronoi A*. The task is decoupled into a ser...

In this paper we present a novel approach to path planning. The approach first plans a corridor with a backbone path which is obstacle free. This corridor is then used to generate a path for the character. Because the corridor around the backbone is obstacle free any path inside the corridor is also collision free. The planning of the backbone path can be done by any existing path planning appr...

The path planning problem, i.e., the geometrical problem of finding a collision-free path between two given configurations of a robot moving among obstacles, has been studied by many authors in recent years. Several complete algorithms exist for robots with few degrees of freedom (DOF), but they are intractable for more than 4 DOF. In order to tackle problems in higher dimensions, several heuri...