One of the ultimate goals in Robotics is to create autonomous robots. Jean- Claude Latombe. Pages PDF. Back Matter. Pages PDF. PDF | We propose a new approach to robot path planning that consists of building and searching a graph Jérôme Barraquand and Jean-Claude Latombe. Live Motion Planning Experiments. • Person 1 walks through some obstacles. • Person 1, looking at Person 2, directs Person 2 through obstacles. • Person 1.
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Robot Motion Planning. Introduction to. Mobile Robotics. Slides by Kai Arras Last update July With material from S. LaValle, JC. Latombe, H. Choset et al. Robot Motion Planning, Jean-Claude Latombe, Kluwer Academic. Publishers, Boston, MA, Principles of Robot Motion: Theory, Algorithms, and. J.C. Latombe, Robot Motion Planning, Kluwer Academic. Publishers, ( Chapter 1, Chapter 7, Chapter 9 –Kinematics Constraints). • G. Dudek, M. Jenkin, .
Previous work In the book , Latombe has described a cell labelling algorithm based on contact surface constraint testing and convex decomposition.
A configuration cell lies entirely inside C-obstacle if it lies inside a C-obstacle region mapped by a pair of convex pieces from the robot and the obstacles respectively. One computational drawback of this method is that it enumerates all the contact surfaces for all convex pairs to test the constraints.
Moreover, it is rather difficult to extend this approach to higher DOFs robots due to the increasing dimensionality of the underlying contact surfaces. Goal Our goal is try to address the problem of checking whether a configuration space primitive or cell lies completely in C-obstacle space i. C-obstacle query.
Given it is difficult to solve this problem in C-space, we would like to map the problem into the workplace first, and solve it in the workspace. We are expecting to solve this problem in the similar method introduced by Schwarzer et al. Reference  J.
Latombe, Robot Motion Planning. Skip to main content Skip to table of contents. Advertisement Hide.
Robot Motion Planning. Front Matter Pages i-xix. Introduction and Overview.
Pages Configuration Space of a Rigid Object. Obstacles in Configuration Space. Roadmap Methods.
Exact Cell Decomposition. Approximate Cell Decomposition.
Potential Field Methods. Multiple Moving Objects. Kinematic Constraints. Dealing with Uncertainty.