On Multiple Moving Objects
dc.contributor.author | Erdmann, Michael | en_US |
dc.contributor.author | Lozano-Perez, Tomas | en_US |
dc.date.accessioned | 2004-10-01T20:10:37Z | |
dc.date.available | 2004-10-01T20:10:37Z | |
dc.date.issued | 1986-05-01 | en_US |
dc.identifier.other | AIM-883 | en_US |
dc.identifier.uri | http://hdl.handle.net/1721.1/5602 | |
dc.description.abstract | This paper explores the motion planning problem for multiple moving objects. The approach taken consists of assigning priorities to the objects, then planning motions one object at a time. For each moving object, the planner constructs a configuration space-time that represents the time-varying constraints imposed on the moving object by the other moving and stationary objects. The planner represents this space-time approximately, using two-dimensional slices. The space-time is then searched for a collision-free path. The paper demonstrates this approach in two domains. One domain consists of translating planar objects; the other domain consists of two-link planar articulated arms. | en_US |
dc.format.extent | 47 p. | en_US |
dc.format.extent | 6985757 bytes | |
dc.format.extent | 2625576 bytes | |
dc.format.mimetype | application/postscript | |
dc.format.mimetype | application/pdf | |
dc.language.iso | en_US | |
dc.relation.ispartofseries | AIM-883 | en_US |
dc.subject | robotics | en_US |
dc.subject | motion planning | en_US |
dc.subject | collision avoidance | en_US |
dc.subject | sconfiguration space | en_US |
dc.subject | coordinated motion | en_US |
dc.subject | autonomous robot | en_US |
dc.title | On Multiple Moving Objects | en_US |