O. Burchan Bayazit Jyh-Ming Lien Nancy M. Amato Department of Computer...  Home/Search
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Abstract: In this paper, we investigate methods for motion planning for deformable robots. Our framework is based on a probabilistic roadmap planner. As with traditional motion planning, the planner's goal is to nd a valid path for the robot. Unlike typical motion planning, the robot is allowed to change its shape (deform) to avoid collisions as it moves along the path. We propose a two-stage approach. First an `approximate' path which might contain collisions is found. Next, we attempt to correct any... (Update)
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BibTeX entry: (Update)
@misc{ jyh-ming-probabilistic,
author = "Burchan Bayazit Jyh-Ming",
title = "Probabilistic Roadmap Motion Planning for Deformable Objects",
url = "citeseer.ist.psu.edu/696763.html" }
Citations (may not include all citations):241 Probabilistic roadmaps for path planning in highdimensional .. - Kavraki, Svestka et al. - 1996
160 Global and local deformations of solid primitives (context) - Barr - 1984
105 OBPRM: An obstacle-based PRM for 3D workspaces - Amato, Bayazit et al. - 1998
85 clip: Fast and robust polyhedral collision detection (context) - Mirtich - 1997
42 The motion dynamics of snakes and worms (context) - Miller - 1988
29 On nding narrow passages with probabilistic roadmap planners (context) - Hsu, Kavraki et al. - 1998
24 Towards planning for elastic objects - Kavraki, Lamiraux et al. - 1998
21 Chainmail: A fast algorithm for deforming volumetric objects (context) - Gibson - 1997
19 A two level fuzzy prm for manipulation planning - Nielsen, Kavraki - 2000
13 Enhancing randomized motion planners: Exploring with haptic .. - Bayazit, Song et al. - 2001
11 Deformable volumes in path planning applications - Anshelevich, Owens et al. - 2000
6 Customizing PRM roadmaps at query time - Song, Miller et al. - 2001
3 Using linked volumes to model object collision (context) - Gibson - 1999
3 Animating sand (context) - Sumner, Brien et al. - 1999
1 A survey of deformable modeling in computer grapics (context) - Gibson, Mirtich - 1997
[Article contains additional citations not shown here]
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