Planning motion in completely deformable environments

Samuel Rodríguez; Jyh Ming Lien; Nancy M. Amato

doi:10.1109/ROBOT.2006.1642072

Planning motion in completely deformable environments

Samuel Rodríguez, Jyh Ming Lien, Nancy M. Amato

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

Though motion planning has been studied extensively for rigid and articulated robots, motion planning for deformable objects is an area that has received far less attention. In this paper we present a framework for planning paths in completely deformable, elastic environments. We apply a deformable model to the robot and obstacles in the environment and present a kinodynamic planning algorithm suited for this type of deformable motion planning. The planning algorithm is based on the Rapidly-Exploring Random Tree (RRT) path planning algorithm. To the best of our knowledge, this is the first work that plans paths in totally deformable environments.

Original language	English (US)
Title of host publication	Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages	2466-2471
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2006.1642072
State	Published - 2006
Externally published	Yes
Event	2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States Duration: May 15 2006 → May 19 2006

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2006
ISSN (Print)	1050-4729

Other

Other	2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Country/Territory	United States
City	Orlando, FL
Period	5/15/06 → 5/19/06

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Online availability

10.1109/ROBOT.2006.1642072

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Planning motion in completely deformable environments. / Rodríguez, Samuel; Lien, Jyh Ming; Amato, Nancy M.
Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. 2006. p. 2466-2471 1642072 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Rodríguez, S, Lien, JM & Amato, NM 2006, Planning motion in completely deformable environments. in Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006., 1642072, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2006, pp. 2466-2471, 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, Orlando, FL, United States, 5/15/06. https://doi.org/10.1109/ROBOT.2006.1642072

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AB - Though motion planning has been studied extensively for rigid and articulated robots, motion planning for deformable objects is an area that has received far less attention. In this paper we present a framework for planning paths in completely deformable, elastic environments. We apply a deformable model to the robot and obstacles in the environment and present a kinodynamic planning algorithm suited for this type of deformable motion planning. The planning algorithm is based on the Rapidly-Exploring Random Tree (RRT) path planning algorithm. To the best of our knowledge, this is the first work that plans paths in totally deformable environments.

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Planning motion in completely deformable environments

Abstract

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