Planning motion in completely deformable environments Conference Paper

abstract

• Though motion planning has been studied extensively for rigid and articulated robots, motion planning for deformable objects is an area that has received far less attention. In this paper we present a framework for planning paths in completely deformable, elastic environments. We apply a deformable model to the robot and obstacles in the environment and present a kinodynamic planning algorithm suited for this type of deformable motion planning. The planning algorithm is based on the Rapidly-Exploring Random Tree (RRT) path planning algorithm. To the best of our knowledge, this is the first work that plans paths in totally deformable environments. 2006 IEEE.

name of conference

• Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.

authors

• Amato, Nancy

published proceedings

• 2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10

author list (cited authors)

• Rodriguez, S., Lien, J., & Amato, N. M.

citation count

• 47

complete list of authors

• Rodriguez, Samuel||Lien, Jyh-Ming||Amato, Nancy M

publication date

• January 2006

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

published in

• IEEE International Conference on Robotics and Automation  Journal

keywords

• 46 Information And Computing Sciences
• 4602 Artificial Intelligence

Digital Object Identifier (DOI)

• 10.1109/ROBOT.2006.1642072

International Standard Book Number (ISBN) 10

• 0-7803-9505-0

International Standard Book Number (ISBN) 13

• 9780780395060

start page

• 2466

end page

• +

volume

• 2006