Randomized roadmap method for path and manipulation planning

Research output: Contribution to journalConference articlepeer-review


This paper presents a new randomized roadmap method for motion planning for many dof robots that can be used to obtain high quality roadmaps even when C-space is crowded. The main novelty in our approach is that roadmap candidate points are chosen on C-obstacle surfaces. As a consequence, the roadmap is likely to contain difficult paths, such as those traversing long, narrow passages in C-space. The approach can be used for both collision-free path planning and for manipulation planning of contact tasks. Experimental results with a planar articulated 6 dof robot show that, after preprocessing, difficult path planning operations can often be carried out in less than a second.

Original languageEnglish (US)
Pages (from-to)113-120
Number of pages8
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - 1996
Externally publishedYes
EventProceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA
Duration: Apr 22 1996Apr 28 1996

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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