Analysis of probabilistic roadmap methods for motion planning and applications to polygon manipulation

Simple item page
dc.contributor.advisorKavraki, Lydia E.
dc.creatorLadd, Andrew M.
dc.date.accessioned2009-06-04T08:38:37Z
dc.date.available2009-06-04T08:38:37Z
dc.date.issued2003
dc.description.abstractMotion planning deals with the problem of finding trajectory between two configurations in some space under some constraints. The science of motion planning deals with solving this problem efficiently in different spaces and under varying sets of constraints. This thesis provides an extended analysis of the PRM algorithm by using tools from measure theory to obtain greater generality. We then apply the results to planning in finite CW complexes and detail an application to planning with a polygonal robot in a polygonal workspace when contact is allowed. The final part of thesis deals with an application of motion planning to untangling mathematical knots. This problem is particularly interesting as it addresses motion planning with large number of degrees of freedom in a reconfigurable space. Planning applications with flexible robots, reconfigurable robots, molecular biology and other instances that share similar characteristics are some of the most challenging in planning today.
dc.format.extent78 p.en_US
dc.format.mimetypeapplication/pdf
dc.identifier.callnoTHESIS COMP.SCI. 2003 LADD
dc.identifier.citationLadd, Andrew M.. "Analysis of probabilistic roadmap methods for motion planning and applications to polygon manipulation." (2003) Master’s Thesis, Rice University. <a href="https://hdl.handle.net/1911/17602">https://hdl.handle.net/1911/17602</a>.
dc.identifier.urihttps://hdl.handle.net/1911/17602
dc.language.isoeng
dc.rightsCopyright is held by the author, unless otherwise indicated. Permission to reuse, publish, or reproduce the work beyond the bounds of fair use or other exemptions to copyright law must be obtained from the copyright holder.
dc.subjectComputer science
dc.titleAnalysis of probabilistic roadmap methods for motion planning and applications to polygon manipulation
dc.typeThesis
dc.type.materialText
thesis.degree.departmentComputer Science
thesis.degree.disciplineEngineering
thesis.degree.grantorRice University
thesis.degree.levelMasters
thesis.degree.nameMaster of Science
Files
Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
1414274.PDF
Size:
5.36 MB
Format:
Adobe Portable Document Format
Download
Collections
Rice University Theses and Dissertations