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On Improving the Clearance for Robots in HighDimensional Configuration Spaces ∗
"... Abstract — In robot motion planning, many algorithms have been proposed that create a path for a robot in an environment with obstacles. Since it can be hard to create such paths, most algorithms are aimed at finding a solution. However, for most applications the paths must be of a good quality as w ..."
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the clearance along paths of a broader range of robots which may reside in arbitrary highdimensional configuration spaces. Examples include planar, freeflying and articulated robots. Index Terms — motion planning, path optimization I.
Probabilistic Roadmaps for Path Planning in HighDimensional Configuration Spaces
 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION
, 1996
"... A new motion planning method for robots in static workspaces is presented. This method proceeds in two phases: a learning phase and a query phase. In the learning phase, a probabilistic roadmap is constructed and stored as a graph whose nodes correspond to collisionfree configurations and whose edg ..."
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Cited by 1276 (124 self)
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A new motion planning method for robots in static workspaces is presented. This method proceeds in two phases: a learning phase and a query phase. In the learning phase, a probabilistic roadmap is constructed and stored as a graph whose nodes correspond to collisionfree configurations and whose
Decompositionbased motion planning: A framework for realtime motion planning in highdimensional configuration spaces
 In Proceedings of the International Conference on Robotics and Automation
, 2001
"... Abstract Research in motion planning has been striving to develop faster planning algorithms in order to be able to address a wider range of applications. In this paper a novel realtime motion planning framework, called decompositionbased motion planning, is proposed. It is particularly well suite ..."
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Cited by 60 (10 self)
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requiring robots with many degrees of freedom to operate in highly dynamic and unpredictably changing environments fall into that category. To operate robustly and safely in dynamic environments the ability to modify the planned motion in real time is necessary. The planning techniques for highdimensional
RealTime Replanning in HighDimensional Configuration Spaces Using Sets of Homotopic Paths
, 2000
"... ..."
Randomized kinodynamic planning
 THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH 2001; 20; 378
, 2001
"... This paper presents the first randomized approach to kinodynamic planning (also known as trajectory planning or trajectory design). The task is to determine control inputs to drive a robot from an initial configuration and velocity to a goal configuration and velocity while obeying physically based ..."
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Cited by 620 (36 self)
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dynamical models and avoiding obstacles in the robot’s environment. The authors consider generic systems that express the nonlinear dynamics of a robot in terms of the robot’s highdimensional configuration space. Kinodynamic planning is treated as a motionplanning problem in a higher dimensional state
Articulated body motion capture by annealed particle filtering
 In IEEE Conf. on Computer Vision and Pattern Recognition
, 2000
"... The main challenge in articulated body motion tracking is the large number of degrees of freedom (around 30) to be recovered. Search algorithms, either deterministic or stochastic, that search such a space without constraint, fall foul of exponential computational complexity. One approach is to intr ..."
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Cited by 487 (4 self)
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special preparation of subjects or restrictive assumptions. The principal contribution of this paper is the development of a modified particle filter for search in high dimensional configuration spaces. It uses a continuation principle, based on annealing, to introduce the influence of narrow peaks
The Xtree: An index structure for highdimensional data
 In Proceedings of the Int’l Conference on Very Large Data Bases
, 1996
"... In this paper, we propose a new method for indexing large amounts of point and spatial data in highdimensional space. An analysis shows that index structures such as the R*tree are not adequate for indexing highdimensional data sets. The major problem of Rtreebased index structures is the over ..."
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Cited by 592 (15 self)
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In this paper, we propose a new method for indexing large amounts of point and spatial data in highdimensional space. An analysis shows that index structures such as the R*tree are not adequate for indexing highdimensional data sets. The major problem of Rtreebased index structures
Estimating the Support of a HighDimensional Distribution
, 1999
"... Suppose you are given some dataset drawn from an underlying probability distribution P and you want to estimate a "simple" subset S of input space such that the probability that a test point drawn from P lies outside of S is bounded by some a priori specified between 0 and 1. We propo ..."
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Cited by 766 (29 self)
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Suppose you are given some dataset drawn from an underlying probability distribution P and you want to estimate a "simple" subset S of input space such that the probability that a test point drawn from P lies outside of S is bounded by some a priori specified between 0 and 1. We
Fast approximate nearest neighbors with automatic algorithm configuration
 In VISAPP International Conference on Computer Vision Theory and Applications
, 2009
"... nearestneighbors search, randomized kdtrees, hierarchical kmeans tree, clustering. For many computer vision problems, the most time consuming component consists of nearest neighbor matching in highdimensional spaces. There are no known exact algorithms for solving these highdimensional problems ..."
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Cited by 448 (2 self)
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nearestneighbors search, randomized kdtrees, hierarchical kmeans tree, clustering. For many computer vision problems, the most time consuming component consists of nearest neighbor matching in highdimensional spaces. There are no known exact algorithms for solving these highdimensional
Actions as spacetime shapes
 In ICCV
, 2005
"... Human action in video sequences can be seen as silhouettes of a moving torso and protruding limbs undergoing articulated motion. We regard human actions as threedimensional shapes induced by the silhouettes in the spacetime volume. We adopt a recent approach [14] for analyzing 2D shapes and genera ..."
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Cited by 642 (4 self)
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Human action in video sequences can be seen as silhouettes of a moving torso and protruding limbs undergoing articulated motion. We regard human actions as threedimensional shapes induced by the silhouettes in the spacetime volume. We adopt a recent approach [14] for analyzing 2D shapes
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