An exact algorithm for kinodynamic planning in the plane

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An exact algorithm for kinodynamic planning in the plane

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

Berkley, California, United States

Pages: 271 - 280

Year of Publication: 1990

ISBN:0-89791-362-0

Authors

John Canny	Computer Science Division, University of California, Berkeley
Ashutosh Rege	Computer Science Division, University of California, Berkeley
John Reif	Computer Science Department, Duke University, Durham, N.C.

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): 1, Downloads (12 Months): 15, Citation Count: 2

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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.

	BDG	Bobrow, :I.E., Dubowsky, S. and Gibson, J.S., "On the Optimal Control of Robotic Manipulators with Actuator Constraints", Proc. of the ACC, San Francisco, (1983), pp. 782-787.
	CDRX	Canny, J., Donald, B., Reif J. and Xavier, P., "On the Complexity of Kinodynamic Planning", Proc. 29th IEEE Symposium on Foundations of Computer Science, New York, (1988), pp. 306-318.
	CR	J.F. Canny and J. Reif, "New lower bound techniques for robot motion planning," in 28th IEEE Symposium on Foundations of Computer Science, (Los Angeles), 1987.
	FW	Steven Fortune , Gordon Wilfong, Planning constrained motion, Proceedings of the twentieth annual ACM symposium on Theory of computing, p.445-459, May 02-04, 1988, Chicago, Illinois, United States [doi>10.1145/62212.62256]
	Hol	J.M. Hollerbach, "Dynamic scaling of manipulator trajectories," in Proceedings of the A CC, (San Francisco, CA), pp. 752-756, The American Automatic Control Council, June 1983.
	JC	P. Jacobs and :i. Canny, "Planning smooth paths for mobile robots," in Proceedings of the 1989 International Conference on Robotics and Automation, pp. 2-7, IEEE, May 1989.
	JHCP	P. :iacobs, G. Heinzinger, :i. Canny and B. Paden, "Planning Guaranteed Near- Time-Optimal Trajectories for a Manipulator in a Cluttered Workspace", Technical Report ESRC 89-20/RAMP 89-15, Engineering Systems Research Center, University of California, Berkeley, October 1989.
	O	C. O'Dfinlaing, "Motion planning with inertial constraints", Algorilhmica, vol. 2(4), (1987), pp. 431-475
	RT	John Reif , Stephen Tate, Approximate Kinodynamic Planning Using L2-norm Dynamic Bounds, Duke University, Durham, NC, 1990
	Re	Renegar, J., "On the computational complexity and geometry of the first order theory of the reals", Technical Report no. 853, School of O.R. and I.E., Cornell University, NY, July 1989.
	SH	G. Sahar and J. M. Hollerbach, "Planning of minimum-time trajectories for robot arms", Tech. Rep. A.I. Memo No. 804, MIT, November 1984.
	Sch	H.M. Schaettler, "On the Optimality of Bang-Bang Trajectories in ~3,,, Bull. AMS, vol. 18(1), pp. 113-6 (1987).
	SD	Z. Shiller and S. Dubowsky, "Global Time- Optimal Motions of Robotic Manipulators in the Presence of Obstacles, IEEE Int. Conf. on Robotics and Automation, Philadelphia, (1988).
	SM	K.G. Shin and N. D. McKay, "Minimumtime control of robotic manipulators with geometric path constraints", IEEE Trans. aclions on Automatic Control, vol. AC-30, pp. 531-541, June 1985.

CITED BY 2

	Bruce Donald , Patrick Xavier , John Canny , John Reif, Kinodynamic motion planning, Journal of the ACM (JACM), v.40 n.5, p.1048-1066, Nov. 1993
	Yong K. Hwang , Narendra Ahuja, Gross motion planning—a survey, ACM Computing Surveys (CSUR), v.24 n.3, p.219-291, Sept. 1992