The complexity of robot motion planning
The complexity of robot motion planning
Advances in kernel methods: support vector learning
Advances in kernel methods: support vector learning
Approximate clustering via core-sets
STOC '02 Proceedings of the thiry-fourth annual ACM symposium on Theory of computing
Robot Motion Planning
Learning with Kernels: Support Vector Machines, Regularization, Optimization, and Beyond
Learning with Kernels: Support Vector Machines, Regularization, Optimization, and Beyond
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
An Algorithm for Robot Path Planning with Cellular Automata
Proceedings of the Fourth International Conference on Cellular Automata for Research and Industry: Theoretical and Practical Issues on Cellular Automata
Planning Algorithms
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
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We present a new approach to path planning based on the properties of the minimum enclosing ball (MEB) in a reproducing kernel space. The algorithm is designed to find paths in high-dimensional continuous spaces and can be applied to robots with many degrees of freedom in static as well as dynamic environments. In the proposed method a sample of points from free space is enclosed in a kernel space MEB. In this way the interior of the MEB becomes a representation of free space in kernel space. If both start and goal positions are interior points in the MEB a collision-free path is given by the line, contained in the MEB, connecting them. The points in work space that satisfy the implicit conditions for that line in kernel space define the desired path. The proposed algorithm was experimentally tested on a workspace cluttered with random and non random distributed obstacles. With very little computational effort, in all cases, a satisfactory free collision path could be calculated.