E. Anshelevich, S. Owens, F. Lamiraux, and L. Kavraki. Deformable volumes in path planning applications. In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pages 2290-2295, 2000.  Home/Search   Document Details and Download   Summary   Related Articles   Check

.... revisiter plusieurs instances de probl emes pour lesquels un cadre formel avait et e d egag e mais qui se heurtaient jusqu alors a la complexit e: ffl des syst emes m ecaniques consid er es: nombre elev e de degr es de libert e [17] chaines cin ematiques ferm ees [12, 27] corps d eformables [3]. ffl des contraintes sur les mouvements: syst emes non holonomes [26] contraintes dynamiques [28, 19] ffl de probl emes n ecessitant l exploration d espaces hautement dimensionn es: planification multirobots [38] ou de taches de manipulation. 1, 31] Dans cet article nous pr esentons une ....

E. Anshelevich, S. Owens, F. Lamiraux, L. Kavraki. Deformable Volumes in path planning applications. In IEEE International Conference on Robotics and Automation, San Francisco (USA), 2000.

....practical motion planning methods for high dimensional C spaces. However, there have been some recent advances in this regard. In particular, the probabilistic roadmap (prm) motion planning methods [18] have proven to be very successful in exploring high dimensional con guration spaces (see, e.g. [2, 3, 11, 17, 24]) The idea behind these methods is to create a graph (roadmap) of randomly generated collision free con gurations which are connected by a simple and fast local planning method. Queries are answered by connecting the start and the goal to the roadmap, and nding a path in the roadmap connecting ....

E. Anshelevich, S. Owens, F. Lamiraux, and L. Kavraki. Deformable volumes in path planning applications. In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), 2000.

.... These successes sparked a urry of activity in which prm motion planning techniques were applied to a number of challenging problems arising in a variety of elds including robotics (e.g. closed chain systems [9, 15] CAD (e.g. assembly [23] maintainability [3, 7] deformable objects [2, 10]) and even computational Biology and Chemistry (e.g. ligand docking [4, 18] protein folding [20, 21] Indeed, it can be argued that the prm framework was instrumental in this broadening of the range of applicability of motion planning, as many of these problems had never before been considered ....

E. Anshelevich, S. Owens, F. Lamiraux, and L. Kavraki. Deformable volumes in path planning applications. In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), 2000.

....a primitive operation. These successes sparked a urry of activity in which prm motion planning techniques were applied to a number of challenging problems arising in a variety of elds including robotics (e.g. closed chain systems [10, 18] CAD (e.g. maintainability [3, 7] deformable objects [2, 14]) and even computational Biology and Chemistry (e.g. ligand docking [22] protein folding [23] Indeed, it can be argued that the prm framework was instrumental in this broadening of the range of applicability of motion planning, as many of these problems had never before been considered ....

E. Anshelevich, S. Owens, F. Lamiraux, and L. Kavraki. Deformable volumes in path planning applications. In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), 2000.

.... research over the last decade [1, 9, 20, 10] The complexity of the problem is high and several versions of it have been shown PSPACE hard [20] Interesting applications and extensions of the problem exist in planning for robots that can modify their environments [11, 23] and flexible robots [3], planning for graphics and simulation [18] planning for virtual prototyping [7] and planning for medical [25] and pharmaceutical [8] applications. This paper concentrates on the analysis of PRM [17, 14] Since 1994, when PRM was invented, several researchers have reported on the excellent ....

....shape depends heavily on the start and finish points and is disconnected. The measure of the set, however, is a significant fraction of the measure of smallest disc which encloses all of the points. 5 Deformable Robots In this section, we consider motion planning with deformable robots such as [3] controlled by force fields such as a rope, a sheet of paper or a rubber ball. This section will sketch how to show probabilistic completeness of the path planner. There will be little emphasis on the control and simulation of parametric deformables, an interesting topic on its own. The robot we ....

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E. Anshelevich, S. Owens, F. Lamiraux, and L. Kavraki. Deformable volumes in path planning applications. In IEEE Int. Conf. Robot. & Autom., pages 2290--2295, 2000.

.... research over the last decade [1, 8, 16] The complexity of the prob lem is high and several versions of it have been shown PSPACE hard [16] Interesting applications and ex tensions of the problem exist in planning for robots that can modify their environments [9, 18] and flexible robots [3], planning for graphics and simulation [15] planning for virtual prototyping [6] and planning for medical [20] and pharmaceutical [7] applications. This paper concentrates on the analysis of PRM [14, 11] Since 1994, when PRM was invented, several researchers have reported on the excellent ....

E. Anshelevich, S. Owens, F. Lamiraux, and L. Kavraki. Deformable volumes in path planning applications. In IEEE Int. Conf. Robot. 4 Autom., pages 2290-2295, 2000.

....with different deformations, e) investigating approaches for efficient collision checking when the shape of the object changes, f) developing methods for improving the overall quality of the computed path, and many others. Parts of our work on planning for elastic objects have been presented in [4, 29, 33]. In this paper we unify and extend previous results and show how our planning method can be used without significant changes to plan for a variety of problems. Organization Section 2 defines the problem we will consider in the rest of the paper. We carefully point out the differences of our ....

....kang, we shear the elastic pipe and equate in a similar way the elastic energy of the spring model with the elastic energy of 22 the continuous mechanical model. We obtain when solving for kang: LLL E kang 2( 1 1) 2 1) 1 u For the detailed calculations we refer the reader to [4]. A configuration is a now represented by a vector of positions for each of the mass points. Manipulation constraints restrict the position of the mass points at the ends of the pipe. The elastic energy of a configuration is the sum of the energies of all the springs. An admissible deformation is ....

E. Anshelevich, S. Owens, F. Lamiraux, and L. Kavraki. Deformable volumes in path planning appli- cations. In IEEE Int. Conf. Robot. 4 Autom., pages 2290-2295, 2000.

....too large a discrepancy. Random walks might be weighted in the direction suggested by following the medial axis. We showed positive results for a difficult problem with a rigid robot in three dimensions. There is a natural extension to articulated and flexible robots. For flexible objects, as in [5], we can integrate the energy function for deformations with an energy term based on the spring model of the rigid case. For articulated robots, handle points can be assigned for each link and a similar minimization procedure moves the robot onto the medial axis. The key to these methods is ....

E. Anshelevich, S. Owens, F. Lamiraux, and L. Kavraki. Deformable volumes in path planning applications. To appear in ICRA '00, 2000.

....too large a discrepancy. Random walks might be weighted in the direction suggested by following the medial axis. We showed positive results for a difficult problem with a rigid robot in three dimensions. There is a natural extension to articulated and flexible robots. For flexible objects, as in [5], we can integrate the energy function for deformations with an energy term based on the spring model of the rigid case. For articulated robots, handle points can be assigned for each link and a similar minimization procedure moves the robot onto the medial axis. The key to these methods is ....

E. Anshelevich, S. Owens, F. Lamiraux, and L. Kavraki. Deformable volumes in path planning applications. To appear in ICRA '00, 2000.

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E. Anshelevich, S. Owens, F. Lamiraux, and L. Kavraki. Deformable volumes in path planning applications. In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pages 2290-2295, 2000.

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E. Anshelevich, S. Owens, F. Lamiraux, and L. Kavraki. Deformable volumes in path planning applications. Proc. IEEE International Conference on Robotics and Automation (ICRA), pages 2290--2295, San Fransisco, CA, 2000.

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