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.

[1]  Tomás Lozano-Pérez,et al.  An algorithm for planning collision-free paths among polyhedral obstacles , 1979, CACM.

[2]  B. Donald.  Motion Planning with Six Degrees of Freedom , 1984 .

[3]  Paul G. Spirakis,et al.  Strong NP-Hardness of Moving Many Discs , 1984, Inf. Process. Lett..

[4]  Steven W. Zucker,et al.  Trajectory Planning In Time-Varying Environments, 1: TPP = PPP + VPP , 1985, Other Conferences.

[5]  S. Zucker,et al.  Toward Efficient Trajectory Planning: The Path-Velocity Decomposition , 1986 .

[6]  Micha Sharir,et al.  Motion Planning in the Presence of Moving Obstacles , 1985, FOCS.

[7]  Ray A. Jarvis,et al.  A Computer Vision and Robotics Laboratory , 1982, Computer.

[8]  Rodney A. Brooks,et al.  A subdivision algorithm in configuration space for findpath with rotation , 1983, IEEE Transactions on Systems, Man, and Cybernetics.

[9]  S. M. Udupa,et al.  Collision Detection and Avoidance in Computer Controlled Manipulators , 1977, IJCAI.

[10]  Tomás Lozano-Pérez,et al.  Spatial Planning: A Configuration Space Approach , 1983, IEEE Transactions on Computers.

[11]  John F. Canny,et al.  Collision Detection for Moving Polyhedra , 1986, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[12]  Rodney A. Brooks,et al.  Solving the Find-Path Problem by Good Representation of Free Space , 1983, Autonomous Robot Vehicles.

[13]  Pierre Tournassoud.  A strategy for obstacle avoidance and its application to mullti-robot systems , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[14]  J. Schwartz,et al.  On the Piano Movers' Problem: III. Coordinating the Motion of Several Independent Bodies: The Special Case of Circular Bodies Moving Amidst Polygonal Barriers , 1983 .

[15]  Tomás Lozano-Pérez,et al.  Automatic Planning of Manipulator Transfer Movements , 1981, IEEE Transactions on Systems, Man, and Cybernetics.

[16]  J. Schwartz,et al.  On the Complexity of Motion Planning for Multiple Independent Objects; PSPACE- Hardness of the "Warehouseman's Problem" , 1984 .

[17]  Leonidas J. Guibas,et al.  Visibility of disjoint polygons , 2005, Algorithmica.

[18]  John E. Hopcroft,et al.  Reducing Multiple Object Motion Planning to Graph Searching , 1984, SIAM J. Comput..

[19]  V. Arnold.  Mathematical Methods of Classical Mechanics , 1974 .

[20]  Vangalur S. Alagar,et al.  Algorithmic motion planning in robotics: Coordinated motion of several disks amidst polygonal obstacles , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[21]  Nils J. Nilsson,et al.  Artificial Intelligence , 1974, IFIP Congress.

[22]  Franco P. Preparata,et al.  Plane-sweep algorithms for intersecting geometric figures , 1982, CACM.

[23]  J. Schwartz,et al.  On the “piano movers” problem. II. General techniques for computing topological properties of real algebraic manifolds , 1983 .

[24]  Micha Sharir,et al.  On Shortest Paths in Polyhedral Spaces , 1986, SIAM J. Comput..

[25]  Steven Fortune,et al.  Coordinated motion of two robot arms , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.