Over the last few years, Probabilistic Roadmaps(PRMs) have emerged as a powerful approach forsolving complex motion planning problems in robotics.Even beyond robotics, PRMs can be used to predictmotions of biological macro-molecules such asproteins and synthesize motions for digital actors.Current PRM-based research focuses on challenges thatarise as PRMs are being applied to motion planningproblems in various scenarios. In response to some ofthose challenges, the following four contributionsare being made in this thesis: (1) a dynamic checkerfor PRMs that exactly determines whether a path liesin free space, (2) a sampling strategy, called"small-step retraction" (SSR), that allows a PRMplanner to efficiently construct roadmaps in freespaces with narrow passages, (3) an efficientmulti-goal PRM planner, and (4) a PRM planner thatcan compute the motions and (re-)grasp operations ofa two-arm system in order to tie self-knots ofdeformable linear objects (DLOs), as well as knotsaround simple static objects.
Over the last few years, Probabilistic Roadmaps(PRMs) have emerged as a powerful approach forsolving complex motion planning problems in robotics.Even beyond robotics, PRMs can be used to predictmotions of biological macro-molecules such asproteins and synthesize motions for digital actors.Current PRM-based research focuses on challenges thatarise as PRMs are being applied to motion planningproblems in various scenarios. In response to some ofthose challenges, the following four contributionsare being made in this thesis: (1) a dynamic checkerfor PRMs that exactly determines whether a path liesin free space, (2) a sampling strategy, called"small-step retraction" (SSR), that allows a PRMplanner to efficiently construct roadmaps in freespaces with narrow passages, (3) an efficientmulti-goal PRM planner, and (4) a PRM planner thatcan compute the motions and (re-)grasp operations ofa two-arm system in order to tie self-knots ofdeformable linear objects (DLOs), as well as knotsaround simple static objects.
Physically-Based Simulation of Soft Tissue Deformations.- Motion Planning in Deformable Soft Tissue with Applications to Needle Insertion.- Motion Planning in Deformable Soft Tissue with Obstacles...
Introduction. Nonholonomic Kinematics and the Role of Elliptic Functions in Constructive Controllability; R.W. Brockett, Liyi Dai. Steering Nonholonomic Control Systems using Sinusoids; R.M...
One of the ultimate goals in Robotics is to create autonomous robots. Such robots will accept high-level descriptions of tasks and will execute them without further human intervention. The input...
Computer Science Workbench is a monograph series which will provide you with an in-depth working knowledge of current developments in computer technology. Every volume in this series will deal with a...
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