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RI Seminar, Yong K. Hwang
Despite numerous research efforts on robot motion planning,
existing motion planners for manipulators either do not
guarantee a solution, or take hours of computation time.
We present an efficient and resolution-complete algorithm
whose performance is commensurate with task difficulty.
The algorithm uses SANDROS, a new search strategy that combines
hierarchical, nonuniform-multi-resolution, and best-first search
to find a near-optimal solution in the configuration space.
When tested with commercial robots, its computation times
have been under 1 minute for easy problems and under 5 minutes
for difficult problems. We are working on further speeding up
this planner using a parallel computer. The SANDROS planner
is the first motion planner selected for commercialization
by the US industries.
Host: Yangsheng Xu (firstname.lastname@example.org)
Appointment: Ava Cruse (email@example.com)
Christopher Lee | firstname.lastname@example.org
Last modified: Wed Oct 12 12:01:10 1994