Dartmouth logo Dartmouth College Computer Science
Technical Report series
CS home
TR home
TR search TR listserv
By author: A B C D E F G H I J K L M N O P Q R S T U V W X Y Z
By number: 2017, 2016, 2015, 2014, 2013, 2012, 2011, 2010, 2009, 2008, 2007, 2006, 2005, 2004, 2003, 2002, 2001, 2000, 1999, 1998, 1997, 1996, 1995, 1994, 1993, 1992, 1991, 1990, 1989, 1988, 1987, 1986

Cell Representations of the Configuration Space for Planning Optimal Paths
Ajay Kannan
Dartmouth TR2015-776

Abstract: 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.

Note: Senior Honors Thesis. Advisor: Devin Balkcom.

PDF PDF (4539KB)

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.

Notify me about new tech reports.

Search the technical reports.

To receive paper copy of a report, by mail, send your address and the TR number to reports AT cs.dartmouth.edu

Copyright notice: The documents contained in this server are included by the contributing authors as a means to ensure timely dissemination of scholarly and technical work on a non-commercial basis. Copyright and all rights therein are maintained by the authors or by other copyright holders, notwithstanding that they have offered their works here electronically. It is understood that all persons copying this information will adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Technical reports collection maintained by David Kotz.