Constraints play a central role in the analysis and planning of robot motion. We suggest that constraints form an appropriate language with which to program robot motion as well and describe the Least Constraint framework.

In this work, we investigate solutions to the following question: Given two motion planning problems W1 and W2 with the same robot and similar obstacles, can we reuse the computation from W1 to solve W2 more efficiently? While the answer to this question can find many practical applications, all current motion planners ignore the correspondences between similar environments. Our study shows tha...

In the present paper nonholonomic systems with drift terms are studied. The discussion is focused on a class of Lagrangian systems with a cyclic coordinate. We present an approach to open-loop path planning in which the system evolution is studied on manifolds of dimension equal to the number of control inputs. A control procedure is derived and it is applied to the planar diver. 1999 Elsevier ...

In this paper we describe a new approach to the problem of path planning with moving obstacles. Our approach is based on the maneuvering board method commonly used for nautical navigation. We have extended this method to handle cases where obstacles may maneuver at any time and where knowledge of the position and velocity of the obstacles may be uncertain.

Large vertical displays are considered well adapted for collaboration, due to their display surface and the space in front of them that can accommodate multiple people. However, there are few studies that empirically support this assertion, and they do not quantitatively assess the differences of collaboration in front of a shared display compared to a non-shared setup, such as multiple desktop...

This paper is a first step in the direction of extending possibilistic planning to take advantage of the expressive power and reasoning capabilities of fuzzy description logics. Fuzzy description logics are used to describe knowledge about the world and about actions. Fundamental definitions are given and the possibilistic planning problem is recast in this new setting.

| this paper presents the rst path planner taking into account both non-holonomic and uncertainty constraints. The case of a car-like robot subject to cumulative and unbounded connguration uncertainty related to bounded control and sensing errors is considered. Assuming the existence of landmarks allowing the robot to relocalize itself in particular places, we present an algorithm that computes...