Interference detection among solids and surfaces
Communications of the ACM
An algorithm for planning collision-free paths among polyhedral obstacles
Communications of the ACM
Convex hulls of finite sets of points in two and three dimensions
Communications of the ACM
Understanding Natural Language
Understanding Natural Language
STOC '75 Proceedings of seventh annual ACM symposium on Theory of computing
On translating a set of rectangles
STOC '80 Proceedings of the twelfth annual ACM symposium on Theory of computing
The Design of a Mechanical Assembly System
The Design of a Mechanical Assembly System
The optimum two-dimensional allocation of irregular, multiply-connected shapes with linear, logical and geometric constraints
Collision detection and avoidance in computer controlled manipulators.
Collision detection and avoidance in computer controlled manipulators.
Computer
Algorithms for Reporting and Counting Geometric Intersections
IEEE Transactions on Computers
Decomposition of Polygons into Convex Sets
IEEE Transactions on Computers
SFCS '75 Proceedings of the 16th Annual Symposium on Foundations of Computer Science
Geometric intersection problems
SFCS '76 Proceedings of the 17th Annual Symposium on Foundations of Computer Science
On the priority approach to hidden-surface algorithms
SFCS '80 Proceedings of the 21st Annual Symposium on Foundations of Computer Science
Collision detection and avoidance in computer controlled manipulators
IJCAI'77 Proceedings of the 5th international joint conference on Artificial intelligence - Volume 2
The navigation system of the JPL robot
IJCAI'77 Proceedings of the 5th international joint conference on Artificial intelligence - Volume 2
A mobius automation: an application of artificial intelligence techniques
IJCAI'69 Proceedings of the 1st international joint conference on Artificial intelligence
A multi-level planning and navigation system for a mobile robot: a first approach to HILARE
IJCAI'79 Proceedings of the 6th international joint conference on Artificial intelligence - Volume 1
Visual mapping by a robot rover
IJCAI'79 Proceedings of the 6th international joint conference on Artificial intelligence - Volume 1
AUTOPASS: an automatic programming system for computer controlled mechanical assembly
IBM Journal of Research and Development
IBM Systems Journal
Shaping geometric objects by cumulative translational sweeps
IBM Journal of Research and Development
Geometric tolerancing: 2. conditional tolerances
IBM Journal of Research and Development
Real-time robot motion planning using rasterizing computer graphics hardware
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Topological reasoning about dextrous grasps
IBM Journal of Research and Development
Heuristic Algorithm for Robot Path Planning Based on Real Space Renormalization
IBERAMIA-SBIA '00 Proceedings of the International Joint Conference, 7th Ibero-American Conference on AI: Advances in Artificial Intelligence
Fuzzy and Crisp Representations of Real-Valued Input for Learning Classifier Systems
Learning Classifier Systems, From Foundations to Applications
A Path-Planner for Mobile Robots of Generic Shape with Multilayered Cellular Automata
ACRI '01 Proceedings of the 5th International Conference on Cellular Automata for Research and Industry
Efficient Path Planning Using Harmonic Functions Computed on a Non-regular Grid
CCIA '02 Proceedings of the 5th Catalonian Conference on AI: Topics in Artificial Intelligence
Motion planning for computer animation and virtual reality applications
CA '95 Proceedings of the Computer Animation
An Intelligent User Interface with Motion Planning for 3D Navigation
VR '00 Proceedings of the IEEE Virtual Reality 2000 Conference
Fixture loading with sensor-based motion plans
ISATP '95 Proceedings of the 1995 IEEE International Symposium on Assembly and Task Planning
ISATP '95 Proceedings of the 1995 IEEE International Symposium on Assembly and Task Planning
A visual tool for computer supported learning: The robot motion planning example
Computers & Education
Motion Planning for a Class of Planar Closed-chain Manipulators
International Journal of Robotics Research
Molecular surfaces on proteins via beta shapes
Computer-Aided Design
Plastic injection mould cooling system design by the configuration space method
Computer-Aided Design
Automatic Generation of High-level Contact State Space between 3D Curved Objects
International Journal of Robotics Research
A new algebraic method for robot motion planning and real geometry
SFCS '87 Proceedings of the 28th Annual Symposium on Foundations of Computer Science
New lower bound techniques for robot motion planning problems
SFCS '87 Proceedings of the 28th Annual Symposium on Foundations of Computer Science
Motion planning and autonomy for virtual humans
ACM SIGGRAPH 2008 classes
Crowds of moving objects: navigation planning and simulation
ACM SIGGRAPH 2008 classes
Efficient distance computation in configuration space
Computer Aided Geometric Design
Assessing methods for the evaluation of the configuration space for planar revolute manipulators
Journal of Computational Methods in Sciences and Engineering - Computational and Mathematical Methods for Science and Engineering Conference 2002 - CMMSE-2002
Structure Discovery from Massive Spatial Data Sets Using Intelligent Simulation Tools
Computational Discovery of Scientific Knowledge
Optimal Accurate Minkowski Sum Approximation of Polyhedral Models
ICIC '08 Proceedings of the 4th international conference on Intelligent Computing: Advanced Intelligent Computing Theories and Applications - with Aspects of Theoretical and Methodological Issues
Covering Minkowski sum boundary using points with applications
Computer Aided Geometric Design
A Hybrid Approach to Intricate Motion, Manipulation and Task Planning
International Journal of Robotics Research
A variational approach to path planning for hyper-redundant manipulators
Robotics and Autonomous Systems
An Evolutionary Path Planner for Multiple Robot Arms
EvoWorkshops '09 Proceedings of the EvoWorkshops 2009 on Applications of Evolutionary Computing: EvoCOMNET, EvoENVIRONMENT, EvoFIN, EvoGAMES, EvoHOT, EvoIASP, EvoINTERACTION, EvoMUSART, EvoNUM, EvoSTOC, EvoTRANSLOG
Contributing vertices-based Minkowski sum computation of convex polyhedra
Computer-Aided Design
Mathematical Foundations of the Center of Area Method for Robot Navigation
IWINAC '09 Proceedings of the 3rd International Work-Conference on The Interplay Between Natural and Artificial Computation: Part II: Bioinspired Applications in Artificial and Natural Computation
An Evolutionary Algorithm with Non-random Initial Population for Path Planning of Manipulators
IEA/AIE '09 Proceedings of the 22nd International Conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems: Next-Generation Applied Intelligence
A principled approach towards symbolic geometric constraint satisfaction
Journal of Artificial Intelligence Research
A subdivision algorithm in configuration space for findpath with rotation
IJCAI'83 Proceedings of the Eighth international joint conference on Artificial intelligence - Volume 2
Coping with uncertainty in map learning
IJCAI'89 Proceedings of the 11th international joint conference on Artificial intelligence - Volume 1
A maneuvering-board approach to path planning with moving obstacles
IJCAI'89 Proceedings of the 11th international joint conference on Artificial intelligence - Volume 2
Motion planning of multi-joint robotic arm with topological dimension reduction method
IJCAI'89 Proceedings of the 11th international joint conference on Artificial intelligence - Volume 2
Simplification and abstraction of kinematic behaviors
IJCAI'89 Proceedings of the 11th international joint conference on Artificial intelligence - Volume 2
Qualitative kinematics: a framework
IJCAI'87 Proceedings of the 10th international joint conference on Artificial intelligence - Volume 1
Knowledge considerations in robotics and distribution of robotic tasks
IJCAI'95 Proceedings of the 14th international joint conference on Artificial intelligence - Volume 1
A qualitative discretization for two-body contacts
IJCAI'95 Proceedings of the 14th international joint conference on Artificial intelligence - Volume 1
Path planning through time and space in dynamic domains
IJCAI'87 Proceedings of the 10th international joint conference on Artificial intelligence - Volume 2
Finding collision-free smooth trajectories for a non-holonomic mobile robot
IJCAI'87 Proceedings of the 10th international joint conference on Artificial intelligence - Volume 2
The mixed approach for motion planning: learning global strategies from a local planner
IJCAI'87 Proceedings of the 10th international joint conference on Artificial intelligence - Volume 2
Configuration products in geometric modeling
2009 SIAM/ACM Joint Conference on Geometric and Physical Modeling
The Belief Roadmap: Efficient Planning in Belief Space by Factoring the Covariance
International Journal of Robotics Research
On information invariants in robotics
Artificial Intelligence
Multirobot rendezvous with visibility sensors in nonconvex environments
IEEE Transactions on Robotics
A new reactive target-tracking control with obstacle avoidance in a dynamic environment
ACC'09 Proceedings of the 2009 conference on American Control Conference
Bending and kissing: computing self-contact configurations of planar loops with revolute joints
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Efficient cost computation in cost map planning for non-circular robots
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Roadmap composition for multi-arm systems path planning
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
An art gallery-based approach: roadmap construction and path planning in global environments
International Journal of Robotics and Automation
Path planning algorithm for bending robots
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Group morphology with convolution algebras
Proceedings of the 14th ACM Symposium on Solid and Physical Modeling
A GPU-based voxelization approach to 3D Minkowski sum computation
Proceedings of the 14th ACM Symposium on Solid and Physical Modeling
Shape and function in mechanical devices
AAAI'87 Proceedings of the sixth National conference on Artificial intelligence - Volume 2
Shape and function in mechanical devices
AAAI'87 Proceedings of the sixth National conference on Artificial intelligence - Volume 2
A unified approach to accessibility for a person in a wheelchair
Robotics and Autonomous Systems
Symmetry constraint inference in assembly planning: automatic assembly configuration specification
AAAI'90 Proceedings of the eighth National conference on Artificial intelligence - Volume 2
A fast path planner for a car-like indoor mobile robot
AAAI'91 Proceedings of the ninth National conference on Artificial intelligence - Volume 2
Path planning for highly redundant manipulators using a continuous model
AAAI'91 Proceedings of the ninth National conference on Artificial intelligence - Volume 2
Incremental configuration space construction for mechanism analysis
AAAI'91 Proceedings of the ninth National conference on Artificial intelligence - Volume 2
On the qualitative structure of a mechanical assembly
AAAI'92 Proceedings of the tenth national conference on Artificial intelligence
Haptic display of contact location
HAPTICS'04 Proceedings of the 12th international conference on Haptic interfaces for virtual environment and teleoperator systems
Algorithms and theory of computation handbook
Mission design for a group of autonomous guided vehicles
Robotics and Autonomous Systems
Contributing vertices-based Minkowski sum of a nonconvex--convex pair of polyhedra
ACM Transactions on Graphics (TOG)
Configuration products and quotients in geometric modeling
Computer-Aided Design
A framework for automatic simulated accessibility assessment in virtual environments
ICDHM'11 Proceedings of the Third international conference on Digital human modeling
Non-commutative morphology: Shapes, filters, and convolutions
Computer Aided Geometric Design
The architecture of a reactive path-planner for mobile robots based on cellular automata
AI*IA'05 Proceedings of the 9th conference on Advances in Artificial Intelligence
Collision detection trough deconstruction of articulated objects
AMDO'06 Proceedings of the 4th international conference on Articulated Motion and Deformable Objects
Heuristic algorithm for robot path planning based on a growing elastic net
EPIA'05 Proceedings of the 12th Portuguese conference on Progress in Artificial Intelligence
Path-Planning for multiple generic-shaped mobile robots with MCA
ICCS'06 Proceedings of the 6th international conference on Computational Science - Volume Part III
Approximation of optimal moving paths of huge robot reclaimer with a 3d range finder
ICCSA'06 Proceedings of the 6th international conference on Computational Science and Its Applications - Volume Part I
Counting the number of connected components of a set and its application to robotics
PARA'04 Proceedings of the 7th international conference on Applied Parallel Computing: state of the Art in Scientific Computing
A mathematical formalism for the evaluation of c-space for redundant robots
EUROCAST'05 Proceedings of the 10th international conference on Computer Aided Systems Theory
Spatial planning and geometric optimization: combining configuration space and energy methods
ADG'04 Proceedings of the 5th international conference on Automated Deduction in Geometry
Visualization and analysis of protein structures using euclidean voronoi diagram of atoms
ICCSA'05 Proceedings of the 2005 international conference on Computational Science and Its Applications - Volume Part III
Algorithmic motion planning: the randomized approach
General Theory of Information Transfer and Combinatorics
ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part I
A dynamical system approach to realtime obstacle avoidance
Autonomous Robots
A configuration deactivation algorithm for boosting probabilistic roadmap planning of robots
International Journal of Automation and Computing
Fast and robust retrieval of Minkowski sums of rotating convex polyhedra in 3-space
Computer-Aided Design
Voxelized Minkowski sum computation on the GPU with robust culling
Computer-Aided Design
The compass that steered robotics
Logic and Program Semantics
International Journal of Robotics Research
Dynamic Minkowski sums under scaling
Computer-Aided Design
Solving inverse configuration space problems by adaptive sampling
Computer-Aided Design
Motion planning for tree climbing with inchworm-like robots
Journal of Field Robotics
Robotics and Autonomous Systems
Low Power Two-Tier GALS Architecture for Multi Robot Collision Avoidance
Proceedings of Conference on Advances In Robotics
Planning for multiple measurement channels in a continuous-state POMDP
Annals of Mathematics and Artificial Intelligence
Task scheduling and motion planning for an industrial manipulator
Robotics and Computer-Integrated Manufacturing
Efficient grid-based spatial representations for robot navigation in dynamic environments
Robotics and Autonomous Systems
Integrated task and motion planning in belief space
International Journal of Robotics Research
Sparse roadmap spanners for asymptotically near-optimal motion planning
International Journal of Robotics Research
| Hi-index | 14.98 |
This paper presents algorithms for computing constraints on the position of an object due to the presence of ther objects. This problem arises in applications that require choosing how to arrange or how to move objects without collisions. The approach presented here is based on characterizing the position and orientation of an object as a single point in a configuration space, in which each coordinate represents a degree of freedom in the position or orientation of the object. The configurations forbidden to this object, due to the presence of other objects, can then be characterized as regions in the configuration space, called configuration space obstacles. The paper presents algorithms for computing these configuration space obstacles when the objects are polygons or polyhedra.