Brock, OliverKavraki, Lydia E.2017-08-022017-08-022000-08-25Brock, 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.https://hdl.handle.net/1911/96280Research 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.30 ppengYou 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).Technical reportTR00-367