Please use this identifier to cite or link to this item:
https://dspace.upt.ro/xmlui/handle/123456789/434
Title: | Multi-query motion planners based on sparse roadmaps for changing and difficult environments |
Authors: | Pomarlan, Mihai |
Subjects: | Planificarea mişcării Robotică Teză de doctorat |
Issue Date: | 2014 |
Publisher: | Timişoara: Editura Politehnica |
Citation: | Pomarlan, Mihai. Multi-query motion planners based on sparse roadmaps for changing and difficult environments. Timişoara: Editura Politehnica, 2014 |
Series/Report no.: | 7 Inginerie Electronică şi Telecomunicaţii;70 |
Abstract: | We investigate multi-query motion planners that use sparse roadmaps, and extend their domain of applicability to nonreversible systems and path-existence LTL trajectory specifications; we prove probabilistic completeness for the extensions. We offer simulation and experimental evidence that such planners are competitive with single-query planners for changing environments. We present a planner system for intricate manipulation tasks that would be too difficult for a single-query planner to handle in a practical amount of time. We propose a data structure to guide planning in highly constrained environments and provide an object classification criterion that captures kinematic interactions between objects and is suitable for motion planning. |
URI: | http://localhost:8080/xmlui/handle/123456789/434 |
ISBN: | 9786065548060 |
Appears in Collections: | Teze de doctorat/Phd theses |
Files in This Item:
File | Description | Size | Format | |
---|---|---|---|---|
BUPT_TD_Pomarlan Mihai.pdf | 3.8 MB | Adobe PDF | View/Open |
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.