Scheduled System Maintenance:
On Wednesday, July 29th, IEEE Xplore will undergo scheduled maintenance from 7:00-9:00 AM ET (11:00-13:00 UTC). During this time there may be intermittent impact on performance. We apologize for any inconvenience.
By Topic

Algorithmic motion planning in robotics

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Sharir, M. ; Robotics Lab., New York Univ., NY, USA

A survey is presented of an approach to motion planning that emphasizes object-oriented, exact, and discrete (or combinatorial) algorithmic techniques in which worst-case asymptotically efficient solutions are being sought. Following a statement of the problem, motion planning in static and known environments is treated. The discussion covers general solutions, lower bounds, the projection method, the retraction method, the expanded obstacles, the single-component approach, and a mobile convex object moving in a 2D polygonal space. Variants of the motion-planning problem are then considered, namely, optimal motion planning, adaptive and exploratory motion planning, motion planning in the presence of moving obstacles, constrained motion planning, motion planning with uncertainty, and general task planning.<>

Published in:

Computer  (Volume:22 ,  Issue: 3 )