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On Multiple Moving Objects

This paper explores the motion planning problem for multiple moving objects. The approach taken consists of assigning priorities to the objects, then planning motions one object at a time. For each moving object, the planner constructs a configuration space-time that represents the time-varying constraints imposed on the moving object by the other moving and stationary objects. The planner represents this space-time approximately, using two-dimensional slices. The space-time is then searched for a collision-free path. The paper demonstrates this approach in two domains. One domain consists of translating planar objects; the other domain consists of two-link planar articulated arms.

Identiferoai:union.ndltd.org:MIT/oai:dspace.mit.edu:1721.1/5602
Date01 May 1986
CreatorsErdmann, Michael, Lozano-Perez, Tomas
Source SetsM.I.T. Theses and Dissertation
Languageen_US
Detected LanguageEnglish
Format47 p., 6985757 bytes, 2625576 bytes, application/postscript, application/pdf
RelationAIM-883

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