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RapidlyExploring Random Trees: Progress and Prospects
 Algorithmic and Computational Robotics: New Directions
, 2000
"... this paper, which presents randomized, algorithmic techniques for path planning that are particular suited for problems that involve dierential constraints. ..."
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Cited by 228 (25 self)
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this paper, which presents randomized, algorithmic techniques for path planning that are particular suited for problems that involve dierential constraints.
The partigame algorithm for variable resolution reinforcement learning in multidimensional statespaces
 Machine Learning
, 1995
"... Abstract. Partigame is a new algorithm for learning feasible trajectories to goal regions in high dimensional continuous statespaces. In high dimensions it is essential that learning does not plan uniformly over a statespace. Partigame maintains a decisiontree partitioning of statespace and ap ..."
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Cited by 224 (8 self)
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Abstract. Partigame is a new algorithm for learning feasible trajectories to goal regions in high dimensional continuous statespaces. In high dimensions it is essential that learning does not plan uniformly over a statespace. Partigame maintains a decisiontree partitioning of statespace and applies techniques from gametheory and computational geometry to e ciently and adaptively concentrate high resolution only on critical areas. The currentversion of the algorithm is designed to nd feasible paths or trajectories to goal regions in high dimensional spaces. Future versions will be designed to nd a solution that optimizes a realvalued criterion. Many simulated problems have been tested, ranging from twodimensional to ninedimensional statespaces, including mazes, path planning, nonlinear dynamics, and planar snake robots in restricted spaces. In all cases, a good solution is found in less than ten trials and a few minutes.
OBPRM: An ObstacleBased PRM for 3D Workspaces
, 1998
"... this paper we consider an obstaclebased prm ..."
MultiLevel Direction of Autonomous Creatures for RealTime Virtual Environments
, 1995
"... There have been several recent efforts to build behaviorbased autonomous creatures. While competent autonomous action is highly desirable, there is an important need to integrate autonomy with "directability". In this paper we discuss the problem of building autonomous animated creatures for intera ..."
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Cited by 211 (13 self)
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There have been several recent efforts to build behaviorbased autonomous creatures. While competent autonomous action is highly desirable, there is an important need to integrate autonomy with "directability". In this paper we discuss the problem of building autonomous animated creatures for interactive virtual environments which are also capable of being directed at multiple levels. We present an approach to control which allows an external entity to "direct" an autonomous creature at the motivational level, the task level, and the direct motor level. We also detail a layered architecture and a general behavioral model for perception and actionselection which incorporates explicit support for multilevel direction. These ideas have been implemented and used to develop several autonomous animated creatures. 1. INTRODUCTION Since Reynold's seminal paper in 1987, there have been a number of impressive papers on the use of behavioral models to generate computer animation. The motivati...
Path Planning in Expansive Configuration Spaces
 International Journal of Computational Geometry and Applications
, 1997
"... We introduce the notion of expansiveness to characterize a family of robot configuration spaces whose connectivity can be effectively captured by a roadmap of randomlysampled milestones. The analysis of expansive configuration spaces has inspired us to develop a new randomized planning algorithm. T ..."
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Cited by 210 (37 self)
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We introduce the notion of expansiveness to characterize a family of robot configuration spaces whose connectivity can be effectively captured by a roadmap of randomlysampled milestones. The analysis of expansive configuration spaces has inspired us to develop a new randomized planning algorithm. This algorithm tries to sample only the portion of the configuration space that is relevant to the current query, avoiding the cost of precomputing a roadmap for the entire configuration space. Thus, it is wellsuited for problems where a single query is submitted for a given environment. The algorithm has been implemented and successfully applied to complex assembly maintainability problems from the automotive industry.
Orienting Polygonal Parts without Sensors
, 1992
"... In manufacturing, it is often necessary to orient parts prior to packing or assembly. We say that a planar part is polygonal if its convex hull is a polygon. We consider the following problem: given a list of n vertices describing a polygonal part whose initial orientation is unknown, find the short ..."
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Cited by 205 (41 self)
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In manufacturing, it is often necessary to orient parts prior to packing or assembly. We say that a planar part is polygonal if its convex hull is a polygon. We consider the following problem: given a list of n vertices describing a polygonal part whose initial orientation is unknown, find the shortest sequence of mechanical gripper actions that is guaranteed to orient the part up to symmetry in its convex hull. We show that such a sequence exists for any polygonal part by giving an O#n log n# algorithm for finding the sequence. Since the gripper actions do not require feedback, this result implies that any polygonal part can be oriented without sensors.
Efficient Distance Computation between NonConvex Objects
 In Proceedings of International Conference on Robotics and Automation
, 1994
"... This paper describes an efficient algorithm for computing the distance between nonconvex objects. Objects are modeled as the union of a set of convex components. From this model we construct a hierarchical bounding representation based on spheres. The distance between objects is determined by compu ..."
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Cited by 195 (0 self)
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This paper describes an efficient algorithm for computing the distance between nonconvex objects. Objects are modeled as the union of a set of convex components. From this model we construct a hierarchical bounding representation based on spheres. The distance between objects is determined by computing the distance between pairs of convex components using preexisting techniques. The key to efficiency is a simple search routine that uses the bounding representation to ignore most of the possible pairs of components. The efficiency can further be improved by accepting a relative error in the returned result. Several empirical trials are presented to examine the performance of the algorithm. 1. Introduction Computing the distance between objects is a common problem in robotics. Using a mathematical model of two objects, we find a point on each object such that the distance between the points is minimized. If one object is a robot and the other object is the union of all the obstacles i...
Fast Computation of Generalized Voronoi Diagrams Using Graphics Hardware
, 1999
"... We present a new approach for computing generalized 2D and 3D Voronoi diagrams using interpolationbased polygon rasterization hardware. We compute a discrete Voronoi diagram by rendering a three dimensional distance mesh for each Voronoi site. The polygonal mesh is a boundederror approximation of ..."
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Cited by 193 (26 self)
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We present a new approach for computing generalized 2D and 3D Voronoi diagrams using interpolationbased polygon rasterization hardware. We compute a discrete Voronoi diagram by rendering a three dimensional distance mesh for each Voronoi site. The polygonal mesh is a boundederror approximation of a (possibly) nonlinear function of the distance between a site and a 2D planar grid of sample points. For each sample point, we compute the closest site and the distance to that site using polygon scanconversion and the Zbuffer depth comparison. We construct distance meshes for points, line segments, polygons, polyhedra, curves, and curved surfaces in 2D and 3D. We generalize to weighted and farthestsite Voronoi diagrams, and present efficient techniques for computing the Voronoi boundaries, Voronoi neighbors, and the Delaunay triangulation of points. We also show how to adaptively refine the solution through a simple windowing operation. The algorithm has been implemented on SGI workstations and PCs using OpenGL, and applied to complex datasets. We demonstrate the application of our algorithm to fast motion planning in static and dynamic environments, selection in complex userinterfaces, and creation of dynamic mosaic effects.
Path Planning Using Lazy PRM
 In IEEE Int. Conf. Robot. & Autom
, 2000
"... This paper describes a new approach to probabilistic roadmap planners (PRMs). The overall theme of the algorithm, called Lazy PRM, is to minimize the number of collision checks performed during planning and hence minimize the running time of the planner. Our algorithm builds a roadmap in the configu ..."
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Cited by 189 (14 self)
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This paper describes a new approach to probabilistic roadmap planners (PRMs). The overall theme of the algorithm, called Lazy PRM, is to minimize the number of collision checks performed during planning and hence minimize the running time of the planner. Our algorithm builds a roadmap in the configuration space, whose nodes are the userdefined initial and goal configurations and a number of randomly generated nodes. Neighboring nodes are connected by edges representing paths between the nodes. In contrast with PRMs, our planner initially assumes that all nodes and edges in the roadmap are collisionfree, and searches the roadmap at hand for a shortest path between the initial and the goal node. The nodes and edges along the path are then checked for collision. If a collision with the obstacles occurs, the corresponding nodes and edges are removed from the roadmap. Our planner either finds a new shortest path, or first updates the roadmap with new nodes and edges, and then searches for a shortest path. The above process is repeated until a collisionfree path is returned.
Topological Simultaneous Localization and Mapping (SLAM): Toward Exact Localization Without Explicit Localization
 IEEE Transactions on Robotics and Automation
, 2001
"... One of the critical components of mapping an unknown environment is the robot's ability to locate itself on a partially explored map. This becomes challenging when the robot experiences positioning error, does not have an external positioning device, nor the luxury of engineered landmarks placed in ..."
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Cited by 185 (10 self)
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One of the critical components of mapping an unknown environment is the robot's ability to locate itself on a partially explored map. This becomes challenging when the robot experiences positioning error, does not have an external positioning device, nor the luxury of engineered landmarks placed in its free space. This paper presents a new method for simultaneous localization and mapping that exploits the topology of the robot's free space to localize the robot on a partially constructed map. The topology of the environment is encoded in a topological map; the particular topological map used in this paper is the generalized Voronoi graph (GVG), which also encodes some metric information about the robot's environment, as well. In this paper, we present the lowlevel control laws that generate the GVG edges and nodes, thereby allowing for exploration of an unknown space. With these prescribed control laws, the GVG (or other topological map) can be viewed as an arbitrator for a hybrid control system that determines when to invoke a particular lowlevel controller from a set of controllers all working toward the highlevel capability of mobile robot exploration. The main contribution, however, is using the graph structure of the GVG, via a graph matching process, to localize the robot. Experimental results verify the described work. Index TermsExploration, localization, mapping, mobile robots, motion planning, tologoical maps, Voronoi diagrams. I.