This paper describes the foundations and algorithms of a new probabilistic roadmap (PRM) planner that is: (1) singlequery –i.e., it does not pre-compute a roadmap, but uses the ...
— A new hybrid motion planning technique based on Harmonic Functions (HF) and Probabilistic Roadmaps (PRM) is presented. The proposed approach consists of incrementally building ...
Abstract— Probabilistic roadmaps (PRM) have been demonstrated to be very promising for planning paths for robots with high degrees of freedom in complex 3D workspaces. In this pa...
Khaled Belghith, Froduald Kabanza, Leo Hartman, Ro...
Abstract— We present an efficient algorithm for complete motion planning that combines approximate cell decomposition (ACD) with probabilistic roadmaps (PRM). Our approach uses ...