Titlebook: Geometric Reasoning for Perception and Action; Workshop. Grenoble, Christian Laugier Conference proceedings 1993 Springer-Verlag Berlin He

正论

Shortest paths of bounded curvature in the plane,ecently, by Dubins in the no-cusp case, and by Reeds and Shepp otherwise. We propose a new solution based on the minimum principle of Pontryagin. Our approach simplifies the proofs and makes clear the global or local nature of the results.

单挑

Kinodynamic planning in a structured and time-varying workspace,ory for a robot which is travelling in a structured workspace amidst moving obstacles and which is subject to constraints on its velocity and acceleration. By structured workspace, we mean that there are lanes within which the robot is able to move. A lane is characterized by its ‘spine’, i.e. a one

RAFF

Motion planning for a non-holonomic mobile robot on 3-dimensional terrains,m that considers the geometry of the robot and its kinematic constraint in order to plan trajectories on a 3D terrain represented by polygonal patches. A first version of this planner has been implemented and simulation results that show the effectiveness of the approach are presented at the end of

过份好问

Optimal motion planning of a mobile robot on a triangulated terrain model, surface characteristics, and the vehicle dynamics, including engine and gears..The terrain is modeled by a triangulation, obtained from the level curves and characteristic points and lines. Mobility coefficients, which describe the ground nature, are attributed to the geometrical elements of the tr

Solace

Landmark-based robot motion planning,g it. This algorithm computes a guaranteed plan by backchaining nondirectional preimages of the goal until one fully contains the set of possible initial positions of the robot. It assumes that “landmarks” are scattered across the workspace. Robot control and sensing are perfect within the fields of

ungainly

Using genetic algorithms for robot motion planning, for robot with six or more degree of freedom. After a short review of the existing methods, we will introduce the genetic algorithms by showing how they can be used to solve the invers kinematic problem. In the second part of the paper, we show that the path planning problem can be expressed as an

一大群

Fast mobile robots in unstructured environments,re structure devoted to obstacle avoidance when geometric models for obstacles do not exis. The first part concerns the model of the robot/environment interaction. This model is based on the definition of the . of the robot and leads to avoidance-oriented control laws. The second part describes the

prostate-gland

Arb853

Geometric solutions to some 3D vision problems,nts are directly included in the computation. The method involves only simple geometric computation. The appropriate mathematical tool, projective geometry, is introduced. Results on preliminary experiments are discussed and some future research directions are indicated.

FACET

Geometrical representation of shapes and objects for visual perception,ecisely with the choice of an adapted representation for image analysis shape understanding. In this context, we present several geometrical models for representation of images and shapes useful for their description and interpretation..First we present geometrical models to split an image, then geo