J. H. Reif and M. Sharir. Motion Planning in the Presence of Moving Obstacles. In 26th IEEE Symposium on Foundations of Computer Science, pages 144--154, 1985.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....otherwise. However, as was shown in [Rei79] path planning is PSPACE hard, which is strong indication that any complete planner is likely to be exponential in the number of dofs of a robot. Adding kinodynamic constraints and moving obstacles further increases the complexity of the problem [DXCR93, RS85] A planner based on random sampling cannot be complete. However, a weaker notion of completeness, called probabilistic completeness, was introduced in [BL91] a planner is probabilistically complete if the probability that it returns a correct answer goes to 1 as the running time increases. ....

....models containing hundreds of thousands of triangles. 2.5 Moving obstacles When obstacles are moving, the planner must compute a trajectory parametrized by time, instead of simply a geometric path. This problem has been proven to be computationally difficult even for robots with few dofs [RS85] A number of heuristic algorithms (e.g. FS96, Fuj95, KZ86] have been proposed. The technique in [KZ86] is a two stage approach: in the first stage, it ignores the moving obstacles and computes a collision free path of the robot among the static obstacles; in the second stage, it tunes the ....

J.H. Reif and M. Sharir. Motion planning in the presence of moving obstacles. In Proc. IEEE Symposium on Foundations of Computer Science, pages 144--154, 1985.

....in a rectangular workspace. Joseph and Planriga [11] established the PSPACE hardness for planar arms, a sequence of links connected by revolute joints moving in the plane among polygonal obstacles. Similar results have been obtained for problems such as motion planning with moving obstacles [4, 30] and compliant motion planning with uncertainty [5] In all these cases, the basic source of complexity appears to be the dramatic increase in the difficulty of the problem with increasing dimensionality. Practical approaches to path planning can be viewed as falling into one of the following two ....

J.H. Reif and M. Sharir. Motion Planning in the Presence of Moving Obstacles. in Proceedings of the 25th IEEE Symposium on Foundations of Computer Science, pp. 144-154, 1985.

....curvature constrained path of the point around the obstacle. No source or target position of the point are specied. The problem of planning the motion of a robot subject to kinematic constraints has been studied in numerous papers in the last decade (cf. 10] 16] For example, Reif and Sharir [15] studied the problem of planning the motion of a robot with a velocity bound amidst moving obstacles in two and three dimensional space. # D#nlaing [11] presented an exact algorithm solving the one dimensional kinodynamic motion planning problem whereas Canny, Donald, Reif and Xavier [2] gave the ....

J. H. Reif and M. Sharir. Motion planning in the presence of moving obstacles. J. ACM, 41(4):764 790, July 1994.

....planning is done relative to robots that e ectively operate in two dimensions on factory oors. 3. What is the xed parameter status of more realistic parameterized motionplanning problems that incorporate moving obstacles, optimality constraints on motion plans, and uncertain robot motion (see [3, 4, 5] and references) ....

Reif, J.H. and Sharir, M. (1994) \Motion Planning in the Presence of Moving Obstacles." Journal of the ACM, 41(4), 764-790.

....nature of these two types of constraints is the same, and they can be treated in a unified fashion. 4 Moving obstacles When obstacles are moving, the planner must compute a trajectory parametrized by time. This problem has been proven to be computationally hard, even for robots with few dofs [RS85] Heuristic algorithms [FZ96, Fuj95, KZ86] have been developed, but they usually do not consider constraints on the robot s motion other than an upper bound on its velocity. The technique proposed in [KZ86] first ignores the moving obstacles and computes a collision free path of the robot among ....

J. Reif and M. Sharir. Motion planning in the presence of moving obstacles. In Proc. IEEE Symposium on Foundations of Computer Science, pages 144--154, 1985.

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J. H. Reif and M. Sharir. Motion Planning in the Presence of Moving Obstacles. In 26th IEEE Symposium on Foundations of Computer Science, pages 144--154, 1985.

No context found.

J. H. Reif and M. Sharir, Motion planning in the presence of moving obstacles, in Proceedings of the 26th Annual Symposium on Foundations of Computer Science, 1985, pp. 144--154.

....along known trajectories. In this case the robot s goal will be to dodge the moving obstacles while moving to its target placement. In this dynamic motion planning problem, it is reasonable to assume some limit on the robot s velocity and or acceleration. Two studies of this problem are [SM88, RS94] They show that the problem of avoiding moving obstacles is substantially harder than the corresponding static problem. By using time related con guration changes to encode Turing machine states, they show that the problem is PSPACE hard even for systems with a small and xed number of degrees ....

J. Reif and M. Sharir. Motion planning in the presence of moving obstacles. J. Assoc. Comput. Mach., 41:764-790, 1994.

....in [HSS84] Hopcroft et al. proved that motion planning for multiple independent rectangular boxes sliding inside a rectangular box is PSPACE hard. A similar problem of moving multiple discs inside a polygon in a 2D space, however, could only be proved to be strongly NPhard [SY84] Reif and Sharir [RS85] introduced the 3D mover s problem in the presence of moving obstacles and showed that this problem is PSPACE hard even in a case where the object to be moved is a disc with bounded velocity. Using a path coding technique, Canny and Reif [CR87] later proved that the problem of planning a point ....

J. H. Reif and M. Sharir. Motion planning in the presence of moving obstacles. In Proceedings of the 26th Annual Symposium on Foundations of Computer Science, pages 144-154, October 1985.

....but there is considerable previous research on related movement problems. Reif [12] provided the rst PSPACE hardness result for a robotic motion planning problem, and Schwartz and Sharir [16] gave motion planning algorithms using the theory of real closed elds (Canny [3] Reif and Sharir [13] gave algorithms and computational complexity lower bound results for robotic motion with moving obstacles (also see Wilfong [19] Canny and Reif [4] showed the 3D minimal cost path problem with polygonal obstacles is NP hard, and Reif and Storer [15] applied the theory of real closed elds to ....

J. Reif and M. Sharir. Motion planning in the presence of moving obstacles. In 26th Annual Symposium on Foundations of Computer Science, pages 144-154, Los Angeles, Ca., USA, October 1985. IEEE Computer Society Press.

....but there is considerable previous research on related movement problems. Reif [12] provided the first PSPACE hardness result for a robotic motion planning problem, and Schwartz and Sharir [17] gave motion planning algorithms using the theory of real closed fields (Canny [3] Reif and Sharir [13] gave algorithms and computational complexity lower bound results for robotic motion with moving obstacles (also see Wilfong [19] Canny and Reif [4] showed the 3D minimal cost path problem with polygonal obstacles is NP hard, and Reif and Storer [14] applied the theory of real closed fields to ....

J. Reif and M. Sharir. Motion planning in the presence of moving obstacles. In 26th Annual Symposium on Foundations of Computer Science, 1985.

No context found.

J. H. Reif and M. Sharir. Motion planning in the presence of moving obstacles. In Proc. of IEEE Symp. on Foundat. of Comp. Sci., pages 144--154, 1985.

No context found.

J. H. Reif and M. Sharir. Motion planning in the presence of moving obstacles. In Proc. of IEEE Symp. on Foundat. of Comp. Sci., pages 144--154, 1985.

No context found.

J. H. Reif and M. Sharir. Motion planning in the presence of moving obstacles. In Proc. of IEEE Symp. on Foundat. of Comp. Sci., pages 144-154, 1985.

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J. Reif and M. Sharir. Motion planning in the presence of moving obstacles. In Proceedings of the 26th Annual Symposium on the Foundations of Computer Science, pages 144--154, Portland, Oregon, Oct. 1985.

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J. Reif and M. Sharir. Motion planning in the presence of moving obstacles. In Proceedings of the 26th Annual Symposium on the Foundations of Computer Science, pages 144--154, Portland, Oregon, Oct. 1985.

No context found.

Reif, J. and Sharir, M. 1994. Motion planning in the presence of moving obstacles. Journal of the ACM 41(4):764--790.

No context found.

J. Reif and M. Sharir. Motion planning in the presence of moving obstacles. In Proceedings of the 26th Annual Symposium on the Foundations of Computer Science, pages 144-- 154, Portland, Oregon, Oct. 1985.

No context found.

J. Reif and M. Sharir, "Motion planning in the presence of moving obstacles," in Proceedings of the 26th Annual Symposium on the Foundations of Computer Science, Portland, Oregon, Oct. 1985, pp. 144-- 154.

No context found.

Reif, J. and Sharir, M. 1985. Motion planning in the presence of moving obstacles. Proceedings of the 26th Annual Symposium on the Foundations of Computer Science, Portland, OR, October, pp. 144--154.

No context found.

J. Reif and M. Sharir. Motion planning in the presence of moving obstacles. In IEEE Conference on Foundations of Computer Science, pages 144--154, 1985.

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J. H. Reif and M. Sharir. Motion planning in the presence of moving obstacles. In Proc. of the IEEE Symp. on the Foundations of Computer Science, pages 144--154, Portland, OR (US), October 1985.

No context found.

J. H. Reif and M. Sharir, "Motion planning in the presence of moving obstacles," in Symp. on the Foundations of Computer Science, Portland, OR (US), Oct. 1985, pp. 144--154.

No context found.

J. H. Reif and M. Sharir. Motion planning in the presence of moving obstacles. J. Assoc. Comput. Machin., 41:764--790, 1994.

No context found.

J. H. Reif and M. Sharir. Motion planning in the presence of moving obstacles. In Proc. of IEEE Symp. on Foundat. of Comp. Sci., pages 144--154, 1985.

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