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This paper proposes sampling techniques to approximate the configuration space
for optimal motion planning. We sample valid configurations in the workspace and
construct path subconvex cells in the free configuration space. The radius of each
cell is calculated using lower bounds on the robot’s minimum time to collision. Using
theorems about path convexity, the shortest paths found between any two points in
the decomposed space are guaranteed to be safe. Experimental results are provided
for a planar arm.
Senior Honors Thesis. Advisor: Devin Balkcom.
Bibliographic citation for this report: [plain text] [BIB] [BibTeX] [Refer]
Or copy and paste:
Ajay Kannan, "Cell Representations of the Configuration Space for Planning Optimal Paths." Dartmouth Computer Science Technical Report TR2015-776, May 2015.
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