Decomposition-based Motion Planning: Towards Real-time Planning forRobots with Many Degrees of Freedom

Simple item page
dc.contributor.authorBrock, Oliver
dc.contributor.authorKavraki, Lydia E.
dc.date.accessioned2017-08-02T22:02:49Z
dc.date.available2017-08-02T22:02:49Z
dc.date.issued2000-08-25
dc.date.noteAugust 25, 2000
dc.description.abstractResearch in motion planning has been striving to develop faster and faster planning algorithms in order to be able to address a wider range of applications. In this paper a novel real-time motion planning framework, called decomposition-based motion planning, is proposed. It is particularly well suited for planning problems that arise in service and field robotics. It decomposes the original planning problem into simpler subproblems, whose successive solution results in a large reduction of the overall complexity. A particular implementation of decomposition-based planning is proposed. It is based on an adaptive wavefront expansion algorithm and reactive motion execution. Using this implementation of decomposition-based planning, real-time motion planning performance for an eleven degree-of-freedom mobile manipulator can be achieved. Some fundamental and preliminary analysis of the decomposition-based motion planning approach is provided.
dc.format.extent30 pp
dc.identifier.citationBrock, Oliver and Kavraki, Lydia E.. "Decomposition-based Motion Planning: Towards Real-time Planning forRobots with Many Degrees of Freedom." (2000) https://hdl.handle.net/1911/96280.
dc.identifier.digitalTR00-367
dc.identifier.urihttps://hdl.handle.net/1911/96280
dc.language.isoeng
dc.rightsYou are granted permission for the noncommercial reproduction, distribution, display, and performance of this technical report in any format, but this permission is only for a period of forty-five (45) days from the most recent time that you verified that this technical report is still available from the Computer Science Department of Rice University under terms that include this permission. All other rights are reserved by the author(s).
dc.titleDecomposition-based Motion Planning: Towards Real-time Planning forRobots with Many Degrees of Freedom
dc.typeTechnical report
dc.type.dcmiText
Files
Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
TR00-367.pdf
Size:
17.74 MB
Format:
Adobe Portable Document Format
Download
Collections
Computer Science Technical Reports