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Asymptotically-optimal path planning on manifolds

Author
Jaillet, L.G.; Porta, J.
Type of activity
Presentation of work at congresses
Name of edition
2012 Robotics: Science and Systems Conference
Date of publication
2012
Presentation's date
2012
Book of congress proceedings
Proceedings of the 2012 Robotics: Science and Systems Conference
First page
1
Last page
8
Repository
http://hdl.handle.net/2117/18240 Open in new window
URL
http://roboticsproceedings.org/rss08/p19.html Open in new window
Abstract
This paper presents an approach for optimal path planning on implicitly-defined configuration spaces such as those arising, for instance, when manipulating an object with two arms or with a multifingered hand. In this kind of situations, the kinematic and contact constraints induce configuration spaces that are manifolds embedded in higher dimensional ambient spaces. Existing sampling-based approaches for path planning on manifolds focus on finding a feasible solution, but they do not optimize t...
Citation
Jaillet, L.; Porta, J.M. Asymptotically-optimal path planning on manifolds. A: Robotics: Science and Systems. "Proceedings of the 2012 Robotics: Science and Systems Conference". Sidney: 2012, p. 1-8.
Keywords
robots
Group of research
KRD - Kinematics and Robot Design

Participants