Gross motion planning—a survey
ACM Computing Surveys (CSUR)
Spatial Cognition and Computation
Motion-based stereovision method with potential utility in robot navigation
IEA/AIE'2005 Proceedings of the 18th international conference on Innovations in Applied Artificial Intelligence
An MFIS for computing a raw cognitive map
IJCAI'91 Proceedings of the 12th international joint conference on Artificial intelligence - Volume 1
Path planning for highly redundant manipulators using a continuous model
AAAI'91 Proceedings of the ninth National conference on Artificial intelligence - Volume 2
Machine Vision and Applications
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This paper presents a method of structuring the free space of a roving robot's environment into a set of overlapping convex regions ideally suited to path planning and navigation tasks. The structure of the free space environment is maintained as a hypergraph with each convex region represented by a hyperedge identifying the boundary walls of the region. A new methodology reveals the structure of free space and constructs the hypergraph representation through a directed search for a set of fundamental circits in an abstract graphical representation of the environment geometry.