NDLI: Planning motion in completely deformable environments

Content Provider	IEEE Xplore Digital Library
Author	Rodriguez, S. Jyh-Ming Lien Amato, N.M.
Copyright Year	2006
Description	Author affiliation: Dept. of Comput. Sci., Texas A&M Univ., TX (Rodriguez, S.; Jyh-Ming Lien; Amato, N.M.)
Abstract	Though motion planning has been studied extensively for rigid and articulated robots, motion planning for deformable objects is an area that has received far less attention. In this paper we present a framework for planning paths in completely deformable, elastic environments. We apply a deformable model to the robot and obstacles in the environment and present a kinodynamic planning algorithm suited for this type of deformable motion planning. The planning algorithm is based on the rapidly-exploring random tree (RRT) path planning algorithm. To the best of our knowledge, this is the first work that plans paths in totally deformable environments
Sponsorship	IEEE Robotics and Autom. Soc
Starting Page	2466
Ending Page	2471
File Size	624586
Page Count	6
File Format	PDF
ISBN	0780395050
ISSN	10504729
DOI	10.1109/ROBOT.2006.1642072
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-05-15
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motion planning Deformable models Robots Path planning Surgery Application software Computational modeling Shape Bones Surgical instruments
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
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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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