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Automatic planning of fine motions: Correctness and completeness

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1 Author(s)
Mason, Matthew T. ; Carnegie-Mellon University, Pittsburgh, PA

In this paper we explore a method for automatic planning of robot fine-motion programs, first described in [Lozano-Pérez, Mason, and Taylor 1983]. The primary result is a variation that is shown to be "bounded-complete"-the method obtains a solution whenever a solution consisting of a bounded number of motions exists.

Published in:

Robotics and Automation. Proceedings. 1984 IEEE International Conference on  (Volume:1 )

Date of Conference:

Mar 1984