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Path planning on manifolds using randomized higher-dimensional continuation
dc.contributor.author | Porta Pleite, Josep Maria |
dc.contributor.author | Jaillet, Leonard Georges |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.date.accessioned | 2011-04-13T16:41:50Z |
dc.date.available | 2011-04-13T16:41:50Z |
dc.date.created | 2010 |
dc.date.issued | 2010 |
dc.identifier.citation | Porta, J.; Jaillet, L. Path planning on manifolds using randomized higher-dimensional continuation. A: International Workshop on the Algorithmic Foundations of Robotics. "9th International Workshop on the Algorithmic Foundations of Robotics". Singapore: Springer, 2010, p. 337-353. |
dc.identifier.uri | http://hdl.handle.net/2117/12358 |
dc.description.abstract | Despite the significant advances in path planning methods, problems involving highly constrained spaces are still challenging. In particular, in many situations the configuration space is a non-parametrizable variety implicitly defined by constraints, which complicates the successful generalization of sampling-based path planners. In this paper, we present a new path planning algorithm specially tailored for highly constrained systems. It builds on recently developed tools for Higher-dimensional Continuation, which provide numerical procedures to describe an implicitly defined variety using a set of local charts. We propose to extend these methods to obtain an efficient path planner on varieties, handling highly constrained problems. The advantage of this planner comes from that it directly operates into the configuration space and not into the higher-dimensional ambient space, as most of the existing methods do. |
dc.format.extent | 17 p. |
dc.language.iso | eng |
dc.publisher | Springer |
dc.rights | Attribution-NonCommercial-NoDerivs 3.0 Spain |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject.lcsh | Planning / Artificial intelligence |
dc.subject.other | robots PARAULES AUTOR: path planning |
dc.subject.other | higher-dimensional continuation |
dc.title | Path planning on manifolds using randomized higher-dimensional continuation |
dc.type | Conference report |
dc.subject.lemac | Planificació / Intel·ligència artificial |
dc.identifier.doi | 10.1007/978-3-642-17452-0_20 |
dc.subject.ams | Àrees temàtiques de la UPC::Informàtica::Intel·ligència artificial artificial |
dc.subject.inspec | Classificació INSPEC::Cybernetics::Artificial intelligence::Planning (artificial intelligence) |
dc.relation.publisherversion | http://dx.doi.org/10.1007/978-3-642-17452-0_20 |
dc.rights.access | Open Access |
local.identifier.drac | 4969661 |
dc.description.version | Postprint (author’s final draft) |
local.citation.author | Porta, J.; Jaillet, L. |
local.citation.contributor | International Workshop on the Algorithmic Foundations of Robotics |
local.citation.pubplace | Singapore |
local.citation.publicationName | 9th International Workshop on the Algorithmic Foundations of Robotics |
local.citation.startingPage | 337 |
local.citation.endingPage | 353 |