Collision Detection
The visibility--voronoi complex and its applications
SCG '05 Proceedings of the twenty-first annual symposium on Computational geometry
Planning Algorithms
Flexible Path Planning Using Corridor Maps
ESA '08 Proceedings of the 16th annual European symposium on Algorithms
Sampling-based path planning on configuration-space costmaps
IEEE Transactions on Robotics
A decision-theoretic formalism for belief-optimal reasoning
PerMIS '09 Proceedings of the 9th Workshop on Performance Metrics for Intelligent Systems
Randomized multi-modal motion planning for a humanoid robot manipulation task
International Journal of Robotics Research
LQG-MP: Optimized path planning for robots with motion uncertainty and imperfect state information
International Journal of Robotics Research
A family of skeletons for motion planning and geometric reasoning applications
Artificial Intelligence for Engineering Design, Analysis and Manufacturing - Representing and Reasoning About Three-Dimensional Space
A configuration deactivation algorithm for boosting probabilistic roadmap planning of robots
International Journal of Automation and Computing
Progress toward multi-robot reconnaissance and the MAGIC 2010 competition
Journal of Field Robotics
Collision-free and smooth trajectory computation in cluttered environments
International Journal of Robotics Research
International Journal of Robotics Research
Motion planning efficient trajectories for industrial bin-picking
International Journal of Robotics Research
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Many algorithms have been proposed that create a path for a robot in an environment with obstacles. Most methods are aimed at finding a solution. However, for many applications, the path must be of a good quality as well. That is, a path should be short and should keep some amount of minimum clearance to the obstacles. Traveling along such a path reduces the chances of collisions due to the difficulty of measuring and controlling the precise position of the robot. This paper reports a new technique, called Partial shortcut, which decreases the path length. While current methods have difficulties in removing all redundant motions, the technique efficiently removes these motions by interpolating one degree of freedom at a time. Two algorithms are also studied that increase the clearance along paths. The first one is fast but can only deal with rigid, translating bodies. The second algorithm is slower but can handle a broader range of robots, including three-dimensional free-flying and articulated robots, which may reside in arbitrary high-dimensional configuration spaces. A big advantage of these algorithms is that clearance along paths can now be increased efficiently without using complex data structures and algorithms. Finally, we combine the two criteria and show that high-quality paths can be obtained for a broad range of robots.