We found a match
Your institution may have rights to this item. Sign in to continue.
- Title
Path Planning in Expansive Configuration Spaces.
- Authors
Hsu, David; Latombe, Jean-Claude; Motwani, Rajeev; Agarwal, P. K.
- Abstract
We introduce the notion of expansiveness to characterize a family of robot configuration spaces whose connectivity can be effectively captured by a roadmap of randomly-sampled milestones. The analysis of expansive configuration spaces has inspired us to develop a new randomized planning algorithm. This new algorithm tries to sample only the portion of the configuration space that is relevant to the current query, avoiding the cost of precomputing a roadmap for the entire configuration space. Thus, it is well-suited for problems where only a single query is submitted for a given environment. The algorithm has been implemented and successfully applied to complex assembly maintainability problems from the automotive industry.
- Subjects
CONFIGURATION space; RANDOM numbers
- Publication
International Journal of Computational Geometry & Applications, 1999, Vol 9, Issue 4/5, p495
- ISSN
0218-1959
- Publication type
Article
- DOI
10.1142/S0218195999000285