On Multiple Moving Objects
Journal Article, Algorithmica, Vol. 2, pp. 477 - 521, 1987
Abstract
This paper explores the motion-planning problem for multiple moving objects. The approach taken consists of assigning priorities to the objects, then planning motions one object at a time. For each moving object, the planner constructs a configuration space-time that represents the time-varying constraints imposed on the moving object by the other moving and stationary objects. The planner represents this space-time approximately, using two-dimensional slices. The space-time is then searched for a collision-free path. The paper demonstrates this approach in two domains. One domain consists of translating planar objects; the other domain consists of two-link planar articulated arms.
BibTeX
@article{Erdmann-1987-15683,author = {Michael Erdmann and Tomas Lozano-Perez},
title = {On Multiple Moving Objects},
journal = {Algorithmica},
year = {1987},
month = {January},
volume = {2},
pages = {477 - 521},
keywords = {robotics, motion planning, coordinated motion, configuration space, autonomous robots, collision avoidance},
}
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to 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.