Title:
Path Planning Among Movable Obstacles: A Probabilistically Complete Approach
Path Planning Among Movable Obstacles: A Probabilistically Complete Approach
| dc.contributor.author | van den Berg, Jur | |
| dc.contributor.author | Stilman, Mike | |
| dc.contributor.author | Kuffner, James | |
| dc.contributor.author | Lin, Ming | |
| dc.contributor.author | Manocha, Dinesh | |
| dc.contributor.corporatename | Georgia Institute of Technology. School of Interactive Computing | |
| dc.contributor.corporatename | Carnegie-Mellon University. School of Computer Science | |
| dc.contributor.corporatename | University of North Carolina at Chapel Hill. Dept. of Computer Science | |
| dc.date.accessioned | 2010-12-16T17:48:44Z | |
| dc.date.available | 2010-12-16T17:48:44Z | |
| dc.date.issued | 2008 | |
| dc.description.abstract | In this paper we study the problem of path planning among movable obstacles, in which a robot is allowed to move the obstacles if they block the robot's way from a start to a goal position. We make the observation that we can decouple the computations of the robot motions and the obstacle movements, and present a probabilistically complete algorithm, something which to date has not been achieved for this problem. Our algorithm maintains an explicit representation of the robot's configuration space. We present an efficient implementation for the case of planar, axis-aligned environments and report experimental results on challenging scenarios. | en_US |
| dc.identifier.citation | J. van den Berg, M. Stilman, J. Kuffner, M. Lin, D. Manocha. Path Planning Among Movable Obstacles: A Probabilistically Complete Approach. In. Proc. Workshop on Algorithmic Foundation of Robotics (WAFR'08), 2008. | en_US |
| dc.identifier.uri | http://hdl.handle.net/1853/36454 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.subject | Movable obstacles | en_US |
| dc.subject | Path planning | en_US |
| dc.subject | Robots | en_US |
| dc.title | Path Planning Among Movable Obstacles: A Probabilistically Complete Approach | en_US |
| dc.type | Text | |
| dc.type.genre | Proceedings | |
| dspace.entity.type | Publication | |
| local.contributor.corporatename | Humanoid Robotics Laboratory | |
| relation.isOrgUnitOfPublication | 05bf85fb-965e-425d-af8b-dbf56e0d9797 |