A penalty function method for constrained motion planning

Barraquand, J.; Ferbach, P.

doi:10.1109/robot.1994.351317

Cited by 20 publications

(8 citation statements)

References 8 publications

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“…An approach to constrained motion planning for robotic systems with many degrees of freedom is introduced in [108]. It first establishes which are the conditions under which the manipulation constraints are holonomic.…”

Section: Planning and Graspingmentioning

confidence: 99%

Dual arm manipulation—A survey

Smith

Karayiannidis

Nalpantidis

et al. 2012

Robotics and Autonomous Systems

444

228

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Recent advances in both anthropomorphic robots and bimanual industrial manipulators had led to an increased interest in the specific problems pertaining to dual arm manipulation. For the future, we foresee robots performing humanlike tasks in both domestic and industrial settings. It is therefore natural to study specifics of dual arm manipulation in humans and methods for using the resulting knowledge in robot control. The related scientific problems range from low-level control to high level task planning and execution. This review aims to summarize the current state of the art from the heterogenous range of fields that study the different aspects of these problems specifically in dual arm manipulation.

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Section: Planning and Graspingmentioning

confidence: 99%

Dual arm manipulation—A survey

Smith

Karayiannidis

Nalpantidis

et al. 2012

Robotics and Autonomous Systems

444

228

View full text Add to dashboard Cite

show abstract

“…This heuristic approach led to impressive results for solving realistic problems. Another heuristic planner proposed in [5] iteratively deforms a coordinated path first generated in the composite configuration space using a variational dynamic programming technique that progressively enforces the manipulation constraints.…”

Section: Discrete Casementioning

confidence: 99%

“…[1,2,5,12,18]) assume that finite sets of stable placements and possible grasps of the movable object are given in the definition of the problem. Consequently, a part of the task decomposition is thus resolved by the user since the initial knowledge provided with these finite sets has to contain the grasps and the intermediate placements required to solve the problem.…”

mentioning

confidence: 99%

A General Manipulation Task Planner

Siméon

Cortés

Sahbani

et al. 2004

Springer Tracts in Advanced Robotics

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Abstract. This paper addresses the manipulation planning problem which deals with motion planning for robots manipulating movable objects among static obstacles. We propose a general manipulation planning approach capable to deal with continuous sets for modeling both the possible grasps and the stable placements of the movable object, rather than discrete sets generally assumed by the existing planners. The algorithm relies on a topological property that characterizes the existence of solutions in the subspace of configurations where the robot grasps the object placed at a stable position. This property leads to reduce the problem by structuring the search-space. It allows us to devise a manipulation planner that directly captures in a probabilistic roadmap the connectivity of sub-dimensional manifolds of the composite configuration space. Experiments conducted with the planner demonstrate its efficacy to solve complex manipulation problems.

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“…In both control theory and dynamic-game theory, the classic set of problems that can be solved are those with a linear state transition equation and quadratic loss functional [2], [5], [18], [65]. Because few problems can be solved analytically, there has been a large focus on numerical dynamic optimization procedures [12], [13], [66], [67], particularly in robotics applications [6], [54], [90], [106].…”

Section: Computing Optimal Strategiesmentioning

confidence: 99%

Robot Motion Planning: A Game-Theoretic Foundation

LaValle¹

2000

Algorithmica

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Analysis techniques and algorithms for basic path planning have become quite valuable in a variety of applications such as robotics, virtual prototyping, computer graphics, and computational biology. Yet, basic path planning represents a very restricted version of general motion planning problems often encountered in robotics. Many problems can involve complications such as sensing and model uncertainties, nonholonomy, dynamics, multiple robots and goals, optimality criteria, unpredictability, and nonstationarity, in addition to standard geometric workspace constraints. This paper proposes a unified, game-theoretic mathematical foundation upon which analysis and algorithms can be developed for this broader class of problems, and is inspired by the similar benefits that were obtained by using unified configuration-space concepts for basic path planning. By taking this approach, a general algorithm has been obtained for computing approximate optimal solutions to a broad class of motion planning problems, including those involving uncertainty in sensing and control, environment uncertainties, and the coordination of multiple robots.

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A penalty function method for constrained motion planning

Cited by 20 publications

References 8 publications

Dual arm manipulation—A survey

Dual arm manipulation—A survey

A General Manipulation Task Planner

Robot Motion Planning: A Game-Theoretic Foundation

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