Abstract
Rather than presenting a specific technique to plan free motions, the main purpose of this paper is discussing the potential of possible approaches from different viewpoints. The focus is on planning simple motions on the basis of a fine grain description of the workspace. We consider the problem of planning translations of a convex polygon in a cluttered polygonal environment, i.e., in the presence of several convex bodies with several sides, as a toy example to address a number of questions: limits of some popular approaches, development of more refined—but practical—techniques, comparison between algorithmic and intuitive motion planning, use of dynamic techniques, potential of parallelization. Most of the ongoing considerations will take the results of a few numerical experiments as their starting point.
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Mirolo, C., Pagello, E. (1998). Exact geometry and robot motion planning: Speculations on a few numerical experiments. In: Pasqual del Pobil, A., Mira, J., Ali, M. (eds) Tasks and Methods in Applied Artificial Intelligence. IEA/AIE 1998. Lecture Notes in Computer Science, vol 1416. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-64574-8_395
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DOI: https://doi.org/10.1007/3-540-64574-8_395
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