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Stratified motion planning on nonsmooth domains with robotic applications

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2 Author(s)
Yejun Wei ; Dept. of Aerosp. & Mech. Eng., Univ. of Notre Dame, IN, USA ; Goodwine, B.

This paper presents an extension of stratified motion planning results to the case where the base manifold upon which the motion planning occurs is not smooth. Robotic applications of this work include motion planning for legged robots over known, nonsmooth terrain and manipulation of nonsmooth objects with multiple robotic manipulators.

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Robotics and Automation, IEEE Transactions on  (Volume:20 ,  Issue: 1 )