Motion planning for a rigid body using random networks on the medial axis of the free space

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Motion planning for a rigid body using random networks on the medial axis of the free space

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Annual Symposium on Computational Geometry archive
Proceedings of the fifteenth annual symposium on Computational geometry table of contents

Miami Beach, Florida, United States

Pages: 173 - 180

Year of Publication: 1999

ISBN:1-58113-068-6

Authors

Steven A. Wilmarth	Dept. of Mathematics, Texas A&M University
Nancy M. Amato	Dept. of Computer Science, Texas A&M University
Peter F. Stiller	Dept. of Mathematics, Texas A&M University

Sponsors

SIGACT: ACM Special Interest Group on Algorithms and Computation Theory
SIGGRAPH: ACM Special Interest Group on Computer Graphics and Interactive Techniques

Publisher

ACM New York, NY, USA

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Downloads (6 Weeks): 6, Downloads (12 Months): 25, Citation Count: 4

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REFERENCES

Note: OCR errors may be found in this Reference List extracted from the full text article. ACM has opted to expose the complete List rather than only correct and linked references.

	1	Nancy M. Amato , O. Burchan Bayazit , Lucia K. Dale , Christopher Jones , Daniel Vallejo, OBPRM: an obstacle-based PRM for 3D workspaces, Proceedings of the third workshop on the algorithmic foundations of robotics on Robotics : the algorithmic perspective: the algorithmic perspective, p.155-168, August 1998, Houston, Texas, United States
	2	Franz Aurenhammer, Voronoi diagrams—a survey of a fundamental geometric data structure, ACM Computing Surveys (CSUR), v.23 n.3, p.345-405, Sept. 1991 [doi>10.1145/116873.116880]
	3	S. Cameron. Enhancing GJK: Computing minimum and penetration distances between convex polyhedra. In Intl. Conf. Roboticsand Auto., 1997.
	4	M. P. a. do Carmo. Riemannian geometry. Birkh#iuser Boston Inc., Boston, MA, 1992. Translated from the second Portuguese edition by Francis Flaherty.
	5	D. Dobkin, J. Hershberger, D. Kirkpatrick, and S. Suri. Computing the intersection-depth of polyhedra. Algorithmica, 9:518-533, 1993.
	6	David Hsu , Lydia E. Kavraki , Jean-Claude Latombe , Rajeev Motwani , Stephen Sorkin, On finding narrow passages with probabilistic roadmap planners, Proceedings of the third workshop on the algorithmic foundations of robotics on Robotics : the algorithmic perspective: the algorithmic perspective, p.141-153, August 1998, Houston, Texas, United States
	7	Lydia E. Kavraki, Random networks in configuration space for fast path planning, Stanford University, Stanford, CA, 1995
	8	Lydia E. Kavraki , Jean-Claude Latombe , Rajeev Motwani , Prabhakar Raghavan, Randomized query processing in robot path planning, Proceedings of the twenty-seventh annual ACM symposium on Theory of computing, p.353-362, May 29-June 01, 1995, Las Vegas, Nevada, United States [doi>10.1145/225058.225159]
	9	L. E. Kavraki, P. Svestka, J.-C. Latombe, and M. H. Overmars. Probabilistic roadmaps for path planning in high dimensional configuration spaces. IEEE Trans. Robot. Aurora., 12:566-580, 1996.
	10	Jean-Claude Latombe, Robot Motion Planning, Kluwer Academic Publishers, Norwell, MA, 1991
	11	Josip Loncaric, Geometrical analysis of compliant mechanisms in robotics (euclidean group, elastic systems, generalized springs, 1985
	12	B. Mirtich. V-Clip: Fast and robust polyhedral collision detection. Technical Report TR97-05, MERL, 201 Broadway, Cambridge, MA 02139, USA, July 1997.
	13	Richard M. Murray , S. Shankar Sastry , Li Zexiang, A Mathematical Introduction to Robotic Manipulation, CRC Press, Inc., Boca Raton, FL, 1994
	14	Mark H. Overmars , Petr Švestka, A probabilistic learning approach to motion planning, Proceedings of the workshop on Algorithmic foundations of robotics, p.19-37, May 1995, San Francisco, California, United States
	15	F. C. Park. Distance metrics on the rigid-body motions with applications to mechanism design. ASME Trans., Journal of Mechanical Design, 117(1):48-54, 1995.
	16	Steven Wilmarth , Nancy Amato , Peter Stiller, MAPRM: A Probabilistic Roadmap Planner with Sampling on the Medial Axis of the Free Space, Texas A & M University, College Station, TX, 1998

CITED BY 4

	Nina Amenta , Sunghee Choi , Ravi Krishna Kolluri, The power crust, Proceedings of the sixth ACM symposium on Solid modeling and applications, p.249-266, May 2001, Ann Arbor, Michigan, United States
	Mark Foskey , Ming C. Lin , Dinesh Manocha, Efficient computation of a simplified medial axis, Proceedings of the eighth ACM symposium on Solid modeling and applications, June 16-20, 2003, Seattle, Washington, USA
	Ji Yeong Lee , Howie Choset, Sensor-based Planning for a Rod-shaped Robot in Three Dimensions: Piecewise Retracts of R3 X S2, International Journal of Robotics Research, v.24 n.5, p.343-383, May 2005
	Jyh-Ming Lien , John Keyser , Nancy M. Amato, Simultaneous shape decomposition and skeletonization, Proceedings of the 2006 ACM symposium on Solid and physical modeling, June 06-08, 2006, Cardiff, Wales, United Kingdom