Name
Abstract | ||
|---|---|---|
Though motion planning has been studied extensively for rigid and articulated robots, motion planning for deformable objects is an area that has received far less attention. In this paper we present a framework for planning paths in completely deformable, elastic environments. In particular we apply a deformable model to the robot and obstacles in the environment and we present a kinodynamic planning algorithm suited for this type of deformable motion planning. The planning algorithm is based on the Rapidly-Exploring Random Tree (rrt) path planning algorithm. To the best of our knowledge, this is the rst work that plans paths in totally deformable environments. |
Year | DOI | Venue |
|---|---|---|
2006 | 10.1109/ROBOT.2006.1642072 | ICRA |
Keywords | Field | DocType |
shape,motion planning,rapidly exploring random tree,robot,application software,computational modeling,robots,path planning,robot kinematics,surgery | Motion planning,Random tree,Computer vision,Kinodynamic planning,Planning algorithms,Computer science,Robot kinematics,Artificial intelligence,Application software,Robot | Conference |
Volume | Issue | ISSN |
2006 | 1 | 1050-4729 |
ISBN | Citations | PageRank |
0-7803-9505-0 | 37 | 1.39 |
References | Authors | |
17 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Samuel Rodríguez | 1 | 253 | 15.69 |
| Jyh-ming Lien | 2 | 651 | 50.28 |
| Nancy M. Amato | 3 | 2328 | 187.71 |