## Placing a Robot Manipulator Amid Obstacles for Optimized Execution (1999)

Venue: | Proc. IEEE Int. Symp. on Assembly and Task Planning (ISATP'99 |

Citations: | 15 - 5 self |

### BibTeX

@INPROCEEDINGS{Hsu99placinga,

author = {David Hsu and Jean-claude Latombe and Stephen Sorkin},

title = {Placing a Robot Manipulator Amid Obstacles for Optimized Execution},

booktitle = {Proc. IEEE Int. Symp. on Assembly and Task Planning (ISATP'99},

year = {1999},

pages = {280--285}

}

### Years of Citing Articles

### OpenURL

### Abstract

This paper presents an efficient algorithm for optimizing the base location of a robot manipulator in an environment cluttered with obstacles, in order to execute specified tasks as fast as possible. The algorithm uses randomized motion planning techniques and exploits geometric "coherence " in configuration space to achieve fast computation. The performance of the algorithm is demonstrated on both synthetic examples and real-life CAD data from the automotive industry. The computation time ranges from under a minute for simple problems to a few minutes for more complex ones. 1 Introduction The base placement of a robot manipulator is an important issue in many robotics applications. Given a description of a robot manipulator and its environment, the goal is to find a base location for the manipulator so that specified tasks are executed as efficiently as possible. In this paper, we present an algorithm that makes use of randomized motion planning techniques to compute simultaneously ...

### Citations

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Robot Motion Planning
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- 1990
(Show Context)
Citation Context ...nd experiments, respectively. Section 6 summarizes the results and points out direction for future research. 2 Related work Planning a path for a robot amid obstacles is a classic problem in robotics =-=[15]-=-. The best complete planner [4], that is, a planner that finds a path whenever one exists and reports that none exists otherwise, takes time exponential in the number of degrees of freedom of a robot.... |

890 | Probabilistic roadmaps for path planning in high-dimensional configuration spaces
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Citation Context ...s and reports that none exists otherwise, takes time exponential in the number of degrees of freedom of a robot. In the last decade, several practical planners have been developed for many-DOF robots =-=[2, 5, 9, 13]-=-. A particularly interesting development has been the introduction of random sampling into path planning [1, 10, 11, 13]. Randomized path planners are capable of solving path planning problems for man... |

335 |
Robot Motion Planning: A Distributed Representation Approach
- Barraquand, Latombe
- 1991
(Show Context)
Citation Context ...s and reports that none exists otherwise, takes time exponential in the number of degrees of freedom of a robot. In the last decade, several practical planners have been developed for many-DOF robots =-=[2, 5, 9, 13]-=-. A particularly interesting development has been the introduction of random sampling into path planning [1, 10, 11, 13]. Randomized path planners are capable of solving path planning problems for man... |

218 | OBPRM: An obstacle-based PRM for 3D workspaces
- Amato, Bayazit, et al.
- 1998
(Show Context)
Citation Context ...e last decade, several practical planners have been developed for many-DOF robots [2, 5, 9, 13]. A particularly interesting development has been the introduction of random sampling into path planning =-=[1, 10, 11, 13]-=-. Randomized path planners are capable of solving path planning problems for many-DOF robots in very complex environments. Some of them satisfy a property called probabilistic completeness: the probab... |

210 | Path planning in expansive configuration spaces
- Hsu, Latombe, et al.
- 1999
(Show Context)
Citation Context ...onsider the impact of obstacles on the placement of robot manipulators. Our algorithm first computes a collision-free path for an initial base location, using the randomized path planner described in =-=[11]-=-. This planner was chosen because it is one of the few that can efficiently plan a path for a many-DOF robot in a complex environment. Unlike most other randomized path planners, it does not pre-compu... |

181 |
New lower bound techniques for robot motion planning problems
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Citation Context ...efficient algorithms in 2-D environments for various metrics [8, pp. 445--466]. The shortest path problem in three or higher dimensions is considerably harder: it has been proven to be NP-hard in 3-D =-=[3]-=-. Therefore if we want to find a minimum-time path for a manyDOF manipulator, we may have to resort to approximation techniques. One possibility is to plan a collisionfree path first and then deform t... |

103 |
Wavelets for Computer Graphics
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Citation Context ...ong various spaces F 2 ; F 3 ; : : :, Adaptive Shortcut quickly converges to a good approximation to bfl . This algorithm is inspired by multi-resolution representation of curves in computer graphics =-=[19]-=-. In practice, the cost of a path that we have defined does not take into account manipulator dynamics and is only an approximation to the time that it takes a manipulator to execute a path. It is a g... |

85 | Kinodynamic motion planning
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- 1993
(Show Context)
Citation Context ... the approach taken here. Alternatively, for a simple robot with two or three DOFs, one may discretize the state space of the robot and search this space for an approximation to the minimum-time path =-=[6]-=-. Several variants of the robot placement problem have been proposed in the literature. Seraji considers the placement of a 7-DOF Robotics Research arm by analyzing its reachability [17]. Kolarov pres... |

70 |
Global time-optimal motions of robotic manipulators in the presence of obstacles
- Shiller, Dubowsky
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(Show Context)
Citation Context ...h for a manyDOF manipulator, we may have to resort to approximation techniques. One possibility is to plan a collisionfree path first and then deform the path iteratively to reduce the execution time =-=[18]-=-. This is the approach taken here. Alternatively, for a simple robot with two or three DOFs, one may discretize the state space of the robot and search this space for an approximation to the minimum-t... |

45 |
On the complexity of kinodynamic planning
- Canny, Donald, et al.
- 1988
(Show Context)
Citation Context ...ction 6 summarizes the results and points out direction for future research. 2 Related work Planning a path for a robot amid obstacles is a classic problem in robotics [15]. The best complete planner =-=[4]-=-, that is, a planner that finds a path whenever one exists and reports that none exists otherwise, takes time exponential in the number of degrees of freedom of a robot. In the last decade, several pr... |

40 |
Motion planning for many degrees of freedomâ€”random reflections at Cspace obstacles
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- 1994
(Show Context)
Citation Context ...e last decade, several practical planners have been developed for many-DOF robots [2, 5, 9, 13]. A particularly interesting development has been the introduction of random sampling into path planning =-=[1, 10, 11, 13]-=-. Randomized path planners are capable of solving path planning problems for many-DOF robots in very complex environments. Some of them satisfy a property called probabilistic completeness: the probab... |

31 |
SANDROS: A motion planner with performance proportional to task di - culty
- Chen, Hwang
- 1992
(Show Context)
Citation Context ...s and reports that none exists otherwise, takes time exponential in the number of degrees of freedom of a robot. In the last decade, several practical planners have been developed for many-DOF robots =-=[2, 5, 9, 13]-=-. A particularly interesting development has been the introduction of random sampling into path planning [1, 10, 11, 13]. Randomized path planners are capable of solving path planning problems for man... |

10 |
Practical motion planning for many degrees of freedom: A novel approach within sequential framework
- Gupta, Zhu
- 1994
(Show Context)
Citation Context |

5 |
Kinematically optimal robot placement for minimum time coordinated motion
- Feddema
- 1996
(Show Context)
Citation Context ...chniques [16]. These work addresses the placement problem mainly from the reachability point of view. Feddema proposes an algorithm that places a manipulator for minimum-time joint-coordinated motion =-=[7]-=-, but he assumes an environment with no obstacles. Hwang and Watterberg's formulation of the placement problem [12] is more closely related to ours. Their algorithm discretizes the space of all base l... |

5 |
Reachability analysis for base placement in mobile manipulators
- Seraji
- 1995
(Show Context)
Citation Context ...tors mounted on mobile bases. For many mobile manipulators, the base remains stationary while the mounted manipulator is in motion, because of operational constraints and increased control complexity =-=[17]-=-. Thus positioning the mobile base for efficient operation of such a system is the same problem as the one for a fixed-base manipulator. A minimum requirement for the base location of a manipulator is... |

3 | Algorithms for optimal design of robots in complex environment
- Kolarov
- 1995
(Show Context)
Citation Context ...acement of a 7-DOF Robotics Research arm by analyzing its reachability [17]. Kolarov presents an algorithm that can place a robot made up of n telescoping links amid obstacles in a planar environment =-=[14]-=-. Ozedou formulates the base placement problem as that of kinematic synthesis and solves it with general optimization techniques [16]. These work addresses the placement problem mainly from the reacha... |

2 | General method for kinematic synthesis of manipulators with task specifications
- Ouezdou
- 1997
(Show Context)
Citation Context ...e up of n telescoping links amid obstacles in a planar environment [14]. Ozedou formulates the base placement problem as that of kinematic synthesis and solves it with general optimization techniques =-=[16]-=-. These work addresses the placement problem mainly from the reachability point of view. Feddema proposes an algorithm that places a manipulator for minimum-time joint-coordinated motion [7], but he a... |

1 |
Optimizing robot placement for visit-point tasks
- Hwang, Watterberg
- 1996
(Show Context)
Citation Context ...oses an algorithm that places a manipulator for minimum-time joint-coordinated motion [7], but he assumes an environment with no obstacles. Hwang and Watterberg's formulation of the placement problem =-=[12]-=- is more closely related to ours. Their algorithm discretizes the space of all base locations and uses a path planner to exhaustively search the space in order to find the optimal solution. They repor... |