NDLI: Planning nonholonomic motions for manipulated objects

Content Provider	IEEE Xplore Digital Library
Author	Ferbach, P. Rit, J.-F.
Copyright Year	1996
Description	Author affiliation: Electr. de France, Chatou, France (Ferbach, P.; Rit, J.-F.)
Abstract	Considers the motions of objects moved by manipulators that can only perform some specific actions. These motions are fundamentally nonholonomic. They consist of a sequence of maneuvers, each one being a permitted action of a manipulator. We present a general method for planning such motions while minimizing the number of maneuvers. The object's state space is searched by performing step motions corresponding to the permitted manipulator actions. We distinguish between low-dimensional cases in which the system's state space is explored extensively, and high-dimensional cases. In the latter we introduce the motion constraints progressively. Successive explorations are performed in a neighborhood of a current path that converges toward a solution.
Starting Page	2935
Ending Page	2942
File Size	754038
Page Count	8
File Format	PDF
ISBN	0780329880
ISSN	10504729
DOI	10.1109/ROBOT.1996.509158
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1996-04-22
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Manipulators Power generation Cranes Motion control Control systems State-space methods Space exploration Power system planning Motion planning Nuclear power generation
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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