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CS 326 A: Motion Planning

CS 326 A: Motion Planning. http://robotics.stanford.edu/~latombe/cs326/2003 Exploring and Inspecting Environments. Criticality-Based Motion Planning. C-space, Motion space, … Define property P

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CS 326 A: Motion Planning

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  1. CS 326 A: Motion Planning http://robotics.stanford.edu/~latombe/cs326/2003 Exploring and Inspecting Environments

  2. Criticality-Based Motion Planning • C-space, Motion space, … • Define property P • Find where P changes  geometric arrangement: - critical curves/surfaces, - regular regions (cells)

  3. Criticality-Based Motion Planning Property P: Is closest to a single point in the obstacle boundary

  4. Criticality-Based Motion Planning Property P: Blocking relation among parts

  5. d2 (L-Right Exit) d1 (L-Left Touch) Criticality-Based Motion Planning Goal

  6. Criticality-Based Motion Planning Goal Start

  7. Criticality-Based Motion Planning

  8. Criticality-Based Motion Planning (Part orientation – Goldberg)

  9. Criticality-Based Motion Planning (target finding)

  10. Criticality-Based Motion Planning Approach is practical only in low-dimensional spaces: - Combinatorial complexity of geometric arrangement - Sensitivity to floating-point computation errors (see European CGAL project)

  11. Today’s Papers • Planning of inspection paths:T. Danner and L.E. Kavraki. Randomized Planning for Short Inspection Paths. IEEE Int. Conf.on Robotics & Autom., San Francisco, April 2000.  Art gallery + PRM + TSP • Target finding:- S. LaValle et al.. Visibility-Based Pursuit-Evasion in a Polygonal Environment. 5th Workshop on Algorihtms and Data Structures, 1997. - S.M. LaValle et al.. Finding an Unpredictable Target in a Workspace with Obstacles. IEEE Int. Conf. on Robotics & Autom., 1997. Criticality-based planning + information state space

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