Carnegie Mellon University
On Multiple Moving Objects

Michael Erdmann and Tomas Lozano-Perez
Algorithmica, Vol. 2, pp. 477-521, 1987.

This paper explores the motion-planning problem for multiple moving objects. The approach taken consists of assigning priorities to the objects, then planning motions one object at a time. For each moving object, the planner constructs a configuration space-time that represents the time-varying constraints imposed on the moving object by the other moving and stationary objects. The planner represents this space-time approximately, using two-dimensional slices. The space-time is then searched for a collision-free path. The paper demonstrates this approach in two domains. One domain consists of translating planar objects; the other domain consists of two-link planar articulated arms.

robotics, motion planning, coordinated motion, configuration space, autonomous robots, collision avoidance


Text Reference
Michael Erdmann and Tomas Lozano-Perez, "On Multiple Moving Objects," Algorithmica, Vol. 2, pp. 477-521, 1987.

BibTeX Reference
   author = "Michael {Erdmann } and Tomas Lozano-Perez",
   title = "On Multiple Moving Objects",
   journal = "Algorithmica",
   pages = "477-521",
   year = "1987",
   volume = "2",