NDLI: An adaptive framework for 'single shot' motion planning: a self-tuning system for rigid and articulated robots

Content Provider	IEEE Xplore Digital Library
Author	Vallejo, D. Remmler, I. Amato, N.M.
Copyright Year	2001
Description	Author affiliation: Dept. of Comput. Syst. Eng., Univ. de las Americas-Puebla, Cholula, Mexico (Vallejo, D.)
Abstract	Describes an enhanced version of an adaptive framework for single shot motion planning (Vallejo et al., 2000). This framework is versatile, and particularly suitable for crowded environments. Our iterative strategy analyzes the characteristics of the query and adaptively selects planners whose strengths match the current situation. Contributions in the paper include an automatic method for setting and adaptively tuning planner characterizations, and reducing the reliance on programmer expertise present in the original framework. The adaptive refinement enables the system to evolve parameters specifically suited for particular classes of applications. The system now supports articulated robots, which were not supported previously. Our experimental results in complex 3D CAD environments show that our strategy solves queries that none of the planners could solve on their own.
Sponsorship	IEEE Robotics & Autom. Soc
Starting Page	21
Ending Page	26
File Size	691360
Page Count	6
File Format	PDF
ISBN	0780365763
ISSN	10504729
DOI	10.1109/ROBOT.2001.932524
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2001-05-21
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motion planning Robot kinematics Robotics and automation Design automation Strategic planning Tree graphs Systems engineering and theory Computer science Tuning Programming profession
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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