Robot motion planning: a distributed representation approach
International Journal of Robotics Research
OBPRM: an obstacle-based PRM for 3D workspaces
WAFR '98 Proceedings of the third workshop on the algorithmic foundations of robotics on Robotics : the algorithmic perspective: the algorithmic perspective
Feedback Control of Dynamic Systems
Feedback Control of Dynamic Systems
Planning Algorithms
Path planning with general end-effector constraints
Robotics and Autonomous Systems
Roadmap-based motion planning in dynamic environments
IEEE Transactions on Robotics
Disassembly Path Planning for Complex Articulated Objects
IEEE Transactions on Robotics
Safe distributed motion coordination for second-order systems with different planning cycles
International Journal of Robotics Research
Optimizing motion of robotic manipulators in interaction with human operators
ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part I
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The autonomous execution of mobile manipulation tasks in unstructured, dynamic environments requires the consideration of various motion constraints. The task itself imposes constraints, of course, but so do the kinematic and dynamic limitations of the manipulator, unpredictably moving obstacles, and the global connectivity of the workspace. All of these constraints need to be updated continuously in response to sensor feedback. We present the elastic roadmap framework, a novel feedback motion planning approach capable of satisfying all of these motion constraints and their respective feedback requirements. This framework is validated in simulation and real-world experiments using a mobile manipulation platform and a stationary manipulator.