Algorithmic Foundation of Robotics VII: Selected by Erion Plaku, Lydia E. Kavraki (auth.), Srinivas Akella,

By Erion Plaku, Lydia E. Kavraki (auth.), Srinivas Akella, Nancy M. Amato, Wesley H. Huang, Bud Mishra (eds.)

Algorithms are a primary component to robot structures: they keep an eye on or cause approximately movement and belief within the actual international. They obtain enter from noisy sensors, think of geometric and actual constraints, and function at the global via vague actuators. The layout and research of robotic algorithms for that reason increases a different mixture of questions on top of things idea, computational and differential geometry, and laptop science.

This ebook comprises the complaints from the 2006 Workshop at the Algorithmic Foundations of Robotics. This biannual workshop is a hugely selective assembly of prime researchers within the box of algorithmic matters on the topic of robotics. The 32 papers during this e-book span a wide selection of themes: from basic movement making plans algorithms to functions in drugs and biology, yet they've got in universal a starting place within the algorithmic difficulties of robot systems.

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Extra info for Algorithmic Foundation of Robotics VII: Selected Contributions of the Seventh International Workshop on the Algorithmic Foundations of Robotics

Sample text

Finally, our first experiments (Sect. 6) show that the technique enables small roadmaps to reliably capture the multiple connectedness of configuration spaces in various problems involving free flying or articulated robots. 2 Homotopy Versus Useful Roadmap Paths First we informally discuss the relation between homotopy and the representative path varieties that it would be desirable to store in the roadmap. The capture of the homotopy classes of Cf ree corresponds to a stronger property Path Deformation Roadmaps 21 than connectivity.

4 for an illustration of the differences between WCO and the other planners. For comparison between WCO and the original AHS, it is especially interesting to consider Test 2. The start configuration s and the goal configuration g, when projected to W, are very close; however, to go from s to g, the robot must go out of the narrow tunnel, reorient, and then go back to the tunnel again. Regardless of which feature point f is chosen, it may potentially mislead the planner, because all short paths in W between Pf (s) and Pf (g) give little information on the correct configuration-space path that connects s and g.

However, these roadmaps involve a high level of redundancy (see results section 6) and yet contain many useless cycles, especially in constrained situations. Therefore, to keep a compact structure we filter a part of the redundancy as explained in the following section. We will show that this filtering leads to a second-order deformation roadmap. 26 a L. Jaillet and T. Sim´eon gi gi+1 b gi τgi+1 τg i gi+1 τ qv τg i c gi τgi+1 gi+1 τ qv τg i τgi+1 Fig. 6. A RCPV roadmap is a visibility deformation roadmap.

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