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dc.contributor.authorRosell Gratacòs, Jan
dc.contributor.authorVázquez Hurtado, Carlos
dc.contributor.authorPérez, Alexander
dc.contributor.otherUniversitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials
dc.date.accessioned2007-11-27T12:16:11Z
dc.date.available2007-11-27T12:16:11Z
dc.date.created2007
dc.date.issued2007-11
dc.identifier.citationRosell Gratacós, J.; Vázquez Hurtado, C.; Pérez, A. C-space decomposition using deterministic sampling and distances. A: 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems: IROS 07. [Piscataway, NJ]: Institute of Electrical and Electronics Engineers, 2007, p. 15-20.
dc.identifier.isbn1424409128
dc.identifier.urihttp://hdl.handle.net/2117/1382
dc.description.abstractHierarchical cell decompositions of Configuration Space can be of great value for enhancing sampling-based path planners, as well as for other robotic tasks with requirements beyond the planning of free paths. This paper proposes an efficient method to obtain a hierarchical cell decomposition of C-space that is based on: a) the use of a deterministic sampling sequence that allows an uniform and incremental exploration of the space, and b) the use of distance measurements to handle as much information as possible from each sample in order to make the procedure more efficient. The proposed cell decomposition procedure is applied to different path planning methods.
dc.format.extent6 p.
dc.language.isoeng
dc.publisherInstitute of Electrical and Electronics Engineers
dc.relation.ispartof2007 IEEE/RSJ International Conference on Intelligent Robots and Systems: IROS 07
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshRobotics
dc.subject.otherC-space
dc.subject.otherDecomposition
dc.subject.otherDeterministic sampling
dc.subject.otherPath planning
dc.subject.otherConfiguration Space
dc.subject.otherEspacio de configuración
dc.subject.otherEspai de configuració
dc.subject.otherMostratge determinista
dc.subject.otherDescomposició
dc.subject.otherDescomposición
dc.subject.otherMuestreo determinista
dc.subject.otherPlanificació de la trajectòria
dc.subject.otherPlanificación de la trayectoria
dc.titleC-space decomposition using deterministic sampling and distances
dc.typeConference report
dc.subject.lemacRobòtica
dc.date.end2007-11-02
dc.date.start2007-10-29
dc.description.peerreviewedPeer Reviewed
dc.rights.accessOpen Access
local.personalitzacitaciotrue


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