NDLI: Planning paths for a flexible surface patch

Content Provider	IEEE Xplore Digital Library
Author	Holleman, C. Kavraki, L.E. Warren, J.
Copyright Year	1998
Description	Author affiliation: Dept. of Comput. Sci., Rice Univ., Houston, TX, USA (Holleman, C.)
Abstract	This paper presents a probabilistic planner capable of finding paths for a flexible surface patch. The planner is based on the probabilistic roadmap approach to path planning while the surface patch is modeled as a low degree Bezier surface. We assume that we are dealing with an elastic part and define an approximate energy model for the part. The energy function penalizes excessive shear and bending of the part and we assume that low-energy configurations correspond to reversible elastic deformations of the part. The planner captures the connectivity of a space by building a roadmap, a network of simple paths connecting configurations selected in the space using randomized techniques. We report on the implementation of our planner and show experimental results with examples where the surface patch is required to move through a small hole in its workspace. Our work is a first step towards considering the physical properties of parts when planning paths.
Sponsorship	IEEE Robotics & Autom. Soc
Starting Page	21
Ending Page	26
File Size	711131
Page Count	6
File Format	PDF
ISBN	078034300X
ISSN	10504729
DOI	10.1109/ROBOT.1998.676243
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1998-05-20
Publisher Place	Belgium
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Path planning Assembly Shape control Joining processes Computer science Service robots Physics computing Cables Application software Animation
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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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
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