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dc.contributor.authorRosell Gratacòs, Jan
dc.contributor.authorIñíguez Galbete, Pedro
dc.contributor.otherUniversitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials
dc.description.abstractPotential-field approach based on harmonic functions have good path planning properties, although the explicit knowledge of the robot’s Configuration Space is required. To overcome this drawback, a combination with a random sampling scheme is proposed. Harmonic functions are computed over computed over a 2d –tree decomposition of a d-dimensional Configuration Space that is obtained with a probabilistic cell decomposition (sampling and classification). Cell sampling is biased towards the more promising regions by using the harmonic function values. Cell classification is performed by evaluating a set of configurations of the cell obtained with a deterministic sampling sequence that provides a good uniform and incremental coverage of the cell. The proposed planning framework open the use of harmonic functions to higher dimensional C-spaces.
dc.rightsAttribution-NonCommercial-NoDerivs 2.5 Spain
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshRobot control systems
dc.subject.otherHarmonic functions
dc.titlePath planning using harmonic functions and probabilistic cell decomposition
dc.typeExternal research report
dc.subject.lemacRobòtica -- Informes tècnics
dc.rights.accessOpen Access
dc.relation.projectidcttCICYT DPI2004-03104

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