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Abstract: This paper presents a new algorithm for planning the time-optimal motion of a robot traveling with limited velocity from a given location to a given destination on a surface in the presence of moving obstacles. Additional constraints such as space variant terrain traversability and fuel economy can be accommodated. A multivalued distance map is defined and applied in computing optimal trajectories. The multivalued distance map incorporates constraints imposed by the moving obstacles, surface... (Update)
Context of citations to this paper: More
...distance related queries. Algorithms also exist for motion planning using graphics hardware acceleration and distance fields [Kimme198, Lengye190, Pisula00]. More recently, an algorithm has been proposed to compute generalized Voronoi diagrams and distance fields using graphics...
.... theories that encompass perceptually relevant aspects, can be formalized in terms of the properties of the evolution of PDEs (e.g. [21]) The work of Kimia et al. 18] describes a scale space that corresponds to various stages of evolution of a di#using PDE, and a...
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BibTeX entry: (Update)
R. Kimmel, N. Kiryati, and A. M. Bruckstein. Multivalued distance maps for motion planning on surfaces with moving obstacles. IEEE Trans. Robot. & Autom., 14(3):427-435, June 1998. http://citeseer.ist.psu.edu/kimmel98multivalued.html More
@misc{ kimmel98multivalued,
author = "R. Kimmel and N. Kiryati and A. Bruckstein",
title = "Multivalued distance maps for motion planning on surfaces with moving obstacles",
text = "R. Kimmel, N. Kiryati, and A. M. Bruckstein. Multivalued distance maps
for motion planning on surfaces with moving obstacles. IEEE Trans. Robot.
& Autom., 14(3):427-435, June 1998.",
year = "1998",
url = "citeseer.ist.psu.edu/kimmel98multivalued.html" }
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