Now showing items 9-12 of 12

  • Randomized path planning on manifolds based on higher-dimensional continuation 

    Porta Pleite, Josep Maria; Jaillet, Leonard Georges; Bohigas Nadal, Oriol (2012)
    Article
    Open Access
    Despite the significant advances in path planning methods, highly constrained problems are still challeng- ing. In some situations, the presence of constraints defines a configuration space that is a non-parametrizable manifold ...
  • Randomized tree construction algorithm to explore energy landscapes 

    Jaillet, Leonard Georges; Corcho Sánchez, Francisco José; Pérez González, Juan Jesús; Cortés, Juan (2011-12)
    Article
    Open Access
    We report in the present work a new method for exploring conformational energy landscapes. The method, called T-RRT, combines ideas from statistical physics and robot path planning algorithms. A search tree is constructed ...
  • Sampling-based path planning on configuration-space costmaps 

    Jaillet, Leonard Georges; Cortés, Juan; Simeon, Thierry (2010)
    Article
    Open Access
    This paper addresses path planning to consider a cost function defined over the configuration space. The proposed planner computes low-cost paths that follow valleys and saddle points of the configuration-space costmap. ...
  • The CUIK suite: analyzing the motion closed-chain multibody systems 

    Porta Pleite, Josep Maria; Ros Giralt, Lluís; Bohigas Nadal, Oriol; Manubens Ferriol, Montserrat; Rosales Gallegos, Carlos; Jaillet, Leonard Georges (2014)
    Article
    Open Access
    Many situations in robotics require the analysis of the motions of complex multibody systems. These are sets of articulated bodies arising in a variety of devices, including parallel manipulators, multifingered hands, or ...