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2007
13 years 11 months ago
2007
Abstract— This paper presents the Discrete Search Leading continuous eXploration (DSLX) planner, a multi-resolution approach to motion planning that is suitable for challenging p...
ICRA
2000
IEEE
14 years 2 months ago
2000
IEEE
We present techniques for fast motion planning by using discrete approximations of generalized Voronoi diagrams, computed with graphics hardware. Approaches based on this diagram ...
IROS
2007
IEEE
14 years 4 months ago
2007
IEEE
— We explore global randomized joint space path planning for articulated robots that are subject to task space constraints. This paper describes a representation of constrained m...
IROS
2007
IEEE
14 years 4 months ago
2007
IEEE
— We present an approach to motion planning for highly articulated systems that aims to ensure robust execution by augmenting the planning process to reason about the robot’s a...
CDC
2009
IEEE
14 years 2 months ago
2009
IEEE
—In this paper, we consider the control system Σ defined by the rolling of a strictly convex surface S of IR3 on a plane without slipping or spinning. The purpose of this paper...