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- W2168751569 abstract "We present a novel constraint-based motion interpolation algorithm to improve the performance of local planners in sample-based motion planning. Given two free-space configurations of a robot, our algorithm computes a one-dimensional trajectory subject to distance constraints between the closest features of the robot and the obstacles.We derive simple and closed form solutions to compute a path that guarantees no collisions between these closest features. The resulting local planner is fast and can improve the performance of sample-based planners with no changes to the underlying sampling strategy. In practice, we observe speedups on benchmarks for rigid robots with narrow passages." @default.
- W2168751569 created "2016-06-24" @default.
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- W2168751569 date "2009-01-01" @default.
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- W2168751569 title "Constrained Motion Interpolation with Distance Constraints" @default.
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- W2168751569 doi "https://doi.org/10.1007/978-3-642-00312-7_23" @default.
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