Browsing AI Memos (1959 - 2004) by Subject "path planning"

Now showing items 1-4 of 4

    • Automatic Planning of Manipulator Transfer Movements 

      Lozano-Perez, Tomas (1980-12-01)
      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 ...

    • Planning of Minimum-Time Trajectories for Robot Arms 

      Sahar, Gideon; Hollerbach, John M. (1984-11-01)
      The minimum-time for a robot arm has been a longstanding and unsolved problem of considerable interest. We present a general solution to this problem that involves joint-space tesselation, a dynamic time-scaling ...

    • Solving the Find-Path Problem by Representing Free Space as Generalized Cones 

      Brooks, Rodney A. (1982-05-01)
      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 ...

    • Visible Decomposition: Real-Time Path Planning in Large Planar Environments 

      Maron, Oded; Lozano-Perez, Tomas (1998-06-01)
      We describe a method called Visible Decomposition for computing collision-free paths in real time through a planar environment with a large number of obstacles. This method divides space into local visibility graphs, ...