Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
The complexity of robot motion planning
The complexity of robot motion planning
Robot motion planning with many degrees of freedom and dynamic constraints
The fifth international symposium on Robotics research
Robot motion planning: a distributed representation approach
International Journal of Robotics Research
Mathematics and Computers in Simulation - Special issue: Robotics
Global Minimum for Active Contour Models: A Minimal Path Approach
International Journal of Computer Vision
Robot Motion Planning
ICALP '96 Proceedings of the 23rd International Colloquium on Automata, Languages and Programming
Retraction: A new approach to motion-planning
STOC '83 Proceedings of the fifteenth annual ACM symposium on Theory of computing
Problem-Solving Methods in Artificial Intelligence
Problem-Solving Methods in Artificial Intelligence
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In path planning design, potential fields can introduce force constraints to ensure curvature continuity of trajectories and thus facilitate path-tracking design. The parametric thrift of fractional potentials permits smooth variations of the potential in function of the distance to obstacles without requiring design of geometric charge distribution. In the approach we use, the fractional order of differentiation is the risk coefficient associated to obstacles. A convex danger map towards a target and a convex geodesic distance map are defined. Real-time computation can also lead to the shortest minimum danger trajectory, or to the least dangerous of minimum length trajectories.