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• W2141664020 abstract "A simple and efficient randomized algorithm is presented for solving single-query path planning problems in high-dimensional configuration spaces. The method works by incrementally building two rapidly-exploring random trees (RRTs) rooted at the start and the goal configurations. The trees each explore space around them and also advance towards each other through, the use of a simple greedy heuristic. Although originally designed to plan motions for a human arm (modeled as a 7-DOF kinematic chain) for the automatic graphic animation of collision-free grasping and manipulation tasks, the algorithm has been successfully applied to a variety of path planning problems. Computed examples include generating collision-free motions for rigid objects in 2D and 3D, and collision-free manipulation motions for a 6-DOF PUMA arm in a 3D workspace. Some basic theoretical analysis is also presented." @default.
• W2141664020 created "2016-06-24" @default.
• W2141664020 creator A5021782513 @default.
• W2141664020 creator A5065104734 @default.
• W2141664020 date "2002-11-07" @default.
• W2141664020 modified "2023-10-14" @default.
• W2141664020 title "RRT-connect: An efficient approach to single-query path planning" @default.
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• W2141664020 doi "https://doi.org/10.1109/robot.2000.844730" @default.
• W2141664020 hasPublicationYear "2002" @default.
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