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.
| Identifer | oai:union.ndltd.org:MIT/oai:dspace.mit.edu:1721.1/5602 |
| Date | 01 May 1986 |
| Creators | Erdmann, Michael, Lozano-Perez, Tomas |
| Source Sets | M.I.T. Theses and Dissertation |
| Language | en_US |
| Detected Language | English |
| Format | 47 p., 6985757 bytes, 2625576 bytes, application/postscript, application/pdf |
| Relation | AIM-883 |
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