Jan. 2, 2003

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Publications on Motion & Path Planning :

BibTeX references.

A Framework for Using the Workspace Medial Axis in PRM Planners

Holleman, C. and L.E. Kavraki.
Proceedings of the International Conference on Robotics and Automation (ICRA),
pp. 1408-1413, San Fransisco, CA, 2000.

A Probabilistic roadmap planner for flexible objects with a workspace medial-axis-based sampling approach

L. Guibas, R. Holleman & L. Kavraki

Proc. IEEE/RSJ Intl. Conf. Intelligent Robots & Systems (IROS), pp.254-260, Kyongju, Korea, 1999.

Motion planning for flexible shapes (systems with many degrees of freedom): Asurvey

Kamal Gupta*
The Visual Computer, Vol. 14, issue 5/6, pp 288-302, 1998.

*Affiliation: School of Engineering Science, Simon Fraser University, Burnaby, BC, Canada V5A 1S6

Abstract

This article provides a brief tutorial-cum-overview of motion planning for "flexible" shapes. The article takes the point of view that motion planning for flexible shapes, in a broad sense, essentially amounts to motion planning for systems with many degrees of freedom (dofs), a well-studied problem in robotics. We start with the basics of motion planning including an introduction to some key concepts, survey a number of recent approaches to solve the motion planning for systems with many dofs, discuss the application of some of these approaches to motion planning for flexible shapes, and report on some recent work in this area.

Key words: Motion planning · Manipulation planning · Degrees of freedom · Robotics · Animation · flexible shapes

Robot Motion Planning

Jean-Claude Latombe
Kluwer Academic Publishers, Boston, MA, 1991, 651 pages.
International Series in Engineering and Computer Science; Robotics: Vision, Manipulation and Sensors",

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