An optimal algorithm for approximate nearest neighbor searching fixed dimensions
Journal of the ACM (JACM)
Balanced aspect ratio trees: combining the advantages of k-d trees and octrees
Proceedings of the tenth annual ACM-SIAM symposium on Discrete algorithms
Sequential Operations in Digital Picture Processing
Journal of the ACM (JACM)
An algorithm for planning collision-free paths among polyhedral obstacles
Communications of the ACM
Problem-Solving Methods in Artificial Intelligence
Problem-Solving Methods in Artificial Intelligence
Path planning using Shi and Karl level sets
Proceedings of the 1st international conference on Robot communication and coordination
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The three essential requirements of sensor based robotic arm manipulation and mobile robot navigation are localization (position and pose determination), environmental mapping (forming a model of the working environment) and trajectory (for manipulators) or path (for mobile robots) planning. This paper concerns the last of these and compares a number of approaches with regard to complexity, flexibility and application scope. Knowledge about these aspects is crucial in choosing an effective strategy for particular application domains.