article

Multiple object semilinear motion planning

Authors:

Andreas Dolzmann,

Volker WeispfenningAuthors Info & Claims

Journal of Symbolic Computation, Volume 42, Issue 3

Pages 324 - 337

https://doi.org/10.1016/j.jsc.2006.11.001

Published: 01 March 2007 Publication History

Abstract

We present a method based on extended linear real quantifier elimination for multiple object semilinear motion planning, i.e. finding collision-free trajectories for several robots in a time dependent environment. For practical applicability the method is limited to polygonal objects and linear trajectories. It can, however, deal with situations involving even non-convex objects.

References

[1]

Barraquand, Jérôme, Langlois, Bruno, Latombe, Jean-Claude, 1989. Robot motion planning with many degrees of freedom and dynamic constraints. In: Preprints of the Fifth International Symposium of Robotic Research

Digital Library

Google Scholar

[2]

Dolzmann, Andreas, 2000. Algorithmic strategies for applicable real quantifier elimination. Doctoral Dissertation. Department of Mathematics and Computer Science, University of Passau, Germany, D-94030 Passau, Germany. March

Google Scholar

[3]

Redlog: Computer algebra meets computer logic. ACM SIGSAM Bulletin. v31 i2. 2-9.

Digital Library

Google Scholar

[4]

Simplification of quantifier-free formulae over ordered fields. Journal of Symbolic Computation. v24 i2. 209-231.

Digital Library

Google Scholar

[5]

A new approach for automatic theorem proving in real geometry. Journal of Automated Reasoning. v21 i3. 357-380.

Digital Library

Google Scholar

[6]

Robot Motion Planning. Kluwer Academic Publishers, Boston.

Google Scholar

[7]

Applying linear quantifier elimination. The Computer Journal. v36 i5. 450-462.

Google Scholar

[8]

On the piano movers¿ problem: Iii. coordinating the motion of several independent bodies: The special case of circular bodies moving amidst polygonal barriers. International Journal of Robotics Research. v2 i3. 46-75.

Google Scholar

[9]

Sharir, Micha, Sifrony, Shmuel, 1988. Coordinated motion planning for two independent robots. In: Proceedings of the Fourth ACM Symposium on Computational Geometry

Digital Library

Google Scholar

[10]

Semilinear motion planning in REDLOG. Applicable Algebra in Engineering, Communication and Computing. v12. 455-475.

Google Scholar

[11]

Semilinear motion planning among moving objects in REDLOG. In: Ganzha, V.G., Mayr, E.W. (Eds.), Computer Algebra in Scientific Computing. Proceedings of the CASC 2001, Springer, Berlin. pp. 541-553.

Google Scholar

[12]

The complexity of linear problems in fields. Journal of Symbolic Computation. v5 i1-2. 3-27.

Digital Library

Google Scholar

[13]

Quantifier elimination for real algebra¿the cubic case. In: Proceedings of the International Symposium on Symbolic and Algebraic Computation, ACM Press, New York. pp. 258-263.

Digital Library

Google Scholar

[14]

Quantifier elimination for real algebra¿the quadratic case and beyond. Applicable Algebra in Engineering Communication and Computing. v8 i2. 85-101.

Google Scholar

Index Terms

Multiple object semilinear motion planning
1. Computing methodologies
  1. Symbolic and algebraic manipulation
    1. Representation of mathematical objects
2. Theory of computation
  1. Randomness, geometry and discrete structures
    1. Computational geometry

Recommendations

Motion planning for multiple moving objects
ISATP '95: Proceedings of the 1995 IEEE International Symposium on Assembly and Task Planning

Abstract: We present a motion planner for multiple moving objects in two dimensions. The search for collision-free paths is performed in the composite configuration space of all the moving objects to guarantee a solution, and the efficiency of our ...
Motion-Driven Action-Based Planning
ICTAI '13: Proceedings of the 2013 IEEE 25th International Conference on Tools with Artificial Intelligence

Achievement of robotic goals generally needs both plan synthesis and plan execution through physical motions. Costs of actions in robotic tasks are generally motiondependent. Generally there are many action-based plans for achieving a goal and usually ...
Sampling-Based Roadmap of Trees for Parallel Motion Planning

This paper shows how to effectively combine a sampling-based method primarily designed for multiple-query motion planning [probabilistic roadmap method (PRM)] with sampling-based tree methods primarily designed for single-query motion planning (...

Comments

Information & Contributors

Information

Published In

cover image Journal of Symbolic Computation

Journal of Symbolic Computation Volume 42, Issue 3

March, 2007

125 pages

ISSN:0747-7171

Issue’s Table of Contents

Publisher

Academic Press, Inc.

United States

Publication History

Published: 01 March 2007

Author Tags

Qualifiers

Article

Contributors

Other Metrics

View Article Metrics

Bibliometrics & Citations

Bibliometrics

Article Metrics

0
Total Citations
0
Total Downloads

Downloads (Last 12 months)0
Downloads (Last 6 weeks)0

Reflects downloads up to 22 Oct 2024

Other Metrics

View Author Metrics

Citations

View Options

View options

Get Access

Login options

Check if you have access through your login credentials or your institution to get full access on this article.

Abstract

References

Index Terms

Recommendations

Motion planning for multiple moving objects

Motion-Driven Action-Based Planning

Sampling-Based Roadmap of Trees for Parallel Motion Planning

Comments

Information

Published In

Publisher

Publication History

Author Tags

Qualifiers

Contributors

Other Metrics

Bibliometrics

Article Metrics

Other Metrics

Citations

View options

Get Access

Login options

Full Access

Figures

Other

Share

Share this Publication link

Share on social media

Affiliations