Now showing items 1-5 of 5
On Multiple Moving Objects
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 ...
Solving the Find-Path Problem by Representing Free Space as Generalized Cones
Free space is represented as a union of (possibly overlapping) generalized cones. An algorithm is presented which efficiently finds good collision free paths for convex polygonal bodies through space littered with ...
Automatic Planning of Manipulator Transfer Movements
This paper deals with the class of problems that involve finding where to place or how to move a solid object in the presence of obstacles. The solution to this class of problems is essential to the automatic planning ...
A Subdivision Algorithm in Configuration Space for Findpath with Rotation
A hierarchical representation for configuration space is presented, along with an algorithm for searching that space for collision-free paths. The detail of the algorithm are presented for polygonal obstacles and a ...
Spatial Planning: A Configuration Space Approach
This paper presents algorithms for computing constraints on the position of an object due to the presence of obstacles. This problem arises in applications which require choosing how to arrange or move objects among ...