Abstract— We present an efficient algorithm for complete motion planning that combines approximate cell decomposition (ACD) with probabilistic roadmaps (PRM). Our approach uses ...
Abstract— Trajectory planning and optimization is a fundamental problem in articulated robotics. It is often viewed as a two phase problem of initial feasible path planning aroun...
Several formalisms have been proposed for qualitative reasoning about regions and their topological relations in space. These formalisms, based on pairwise relations, do not allow...
We consider planning optimal collision-free motions of two polygonal robots under translation. Each robot has a reference point that must lie on a given graph, called a roadmap, w...
Hamid Reza Chitsaz, Steven M. LaValle, Jason M. O'...