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• W2891736259 abstract "The motion of a mechanical system can be defined as a path through its configuration space. Computing such a path has a computational complexity scaling exponentially with the dimensionality of the configuration space. We propose to reduce the dimensionality of the configuration space by introducing the irreducible path — a path having a minimal swept volume. The paper consists of three parts: In part I, we define the space of all irreducible paths and show that planning a path in the irreducible path space preserves completeness of any motion planning algorithm. In part II, we construct an approximation to the irreducible path space of a serial kinematic chain under certain assumptions. In part III, we conduct motion planning using the irreducible path space for a mechanical snake in a turbine environment, for a mechanical octopus with eight arms in a pipe system and for the sideways motion of a humanoid robot moving through a room with doors and through a hole in a wall. We demonstrate that the concept of an irreducible path can be applied to any motion planning algorithm taking curvature constraints into account." @default.
• W2891736259 created "2018-09-27" @default.
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• W2891736259 date "2018-11-01" @default.
• W2891736259 modified "2023-10-02" @default.
• W2891736259 title "Motion planning in Irreducible Path Spaces" @default.
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• W2891736259 doi "https://doi.org/10.1016/j.robot.2018.08.012" @default.
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