On-Line Computation Distribution Architecture
Our research addresses technical issues arising when computationally
complex algorithms are embedded in a real-time framework. To
illustrate these issues we consider two particular problem domains:
object manipulation by autonomous multi-arm robots and
navigation of multiple autonomous mobile robots in an incompletely
The ultimate goal of our investigation, concerning the two problem
domains mentioned above, is to both provide real-time controllers with
on-line motion reactive planning capabilities and build experimental
robotic systems demonstrating such capabilities. Moreover, in
accomplishing this goal, we expect to elaborate general guidelines for
embedding a capability requiring provably complex computations into a
- Jean-Claude Latombe, Professor (email@example.com)
- Tsai-Yen Li, PhD Student (firstname.lastname@example.org)
- Yotto Koga, PhD Student (email@example.com)
- Lydia Kavraki, PhD Student (firstname.lastname@example.org)
- Craig Becker, PhD Student (email@example.com)
- Joaquin Salas, Visiting Scholar (firstname.lastname@example.org)
- Ken Tokusei, MSCS Student (email@example.com)
- Mark Yim, PhD Student (firstname.lastname@example.org)
- Anthony Lazanas, PhD Graduate (email@example.com)
- David Zhu, Post-Doc (firstname.lastname@example.org)
Summary of Main Results Obtained So Far
- Identification of several axes for distributing path planning
software in an on-line architecture.
- A documented
Randomized Path Planner package has been made available to other
research institution on the computer network. Several organizations
are using it.
- Implementation of parallel versions of RPP on a Silicon Graphics
4D/240 multiprocessor machine and on a local-area network of
- Definition of a new, FFT-based method to compute obstacles in
- Definition and implementation of a new path planning method (the
vector-based planner) to generate paths for robots with many degrees
- Integration of several path planners (RPP, vector-based planner
with/with out potential fields) in a package distributed over a
network of UNIX-based workstations.
- Design and implementation of an optimal-time motion planner for
closed-loop kinematic chains.
- Preliminary implementation of a randomized three-arm manipulation
planner for manipulating an elongated object in a cluttered
- Design and implementation of a new landmark-based mobile robot
planning method. Extension of this planner to deal with controllable
- Definition of the layout of a software toolkit to efficiently
develop new navigation systems. Implementation of several toolkits.
- Partial development of a powerful multi-mobile-robot simulator to
facilitate the development and debugging of programs for multiple
interacting mobile robots .
- Y. Koga and J.C. Latombe, "Experiments in Dual-Arm Manipulation
Planning," Proc. of the IEEE Int. Conf. on Robotics and
Automation, Nice, May 1992, pp. 2238--2245.
- Y. Koga, T. Lastennet, J.C. Latombe, and T.Y. Li, "Multi-Arm
Manipulation Planning," Proc. of the 9th Int. Symp. on
Automation and Robotics in Construction, Tokyo, June 1992.
- A. Lazanas and J.C. Latombe, Landmark-Based Robot Navigation,
Rep. No. STAN-CS-92-1428, Dept. of Computer Science, Stanford U., May
- A. Lazanas and J.C. Latombe, "Landmark-Based Robot Navigation,"
Proc. of the 10th Nat. Conf. on Artificial Intelligence,
AAAI-92, San Jose, July 1992, pp. 816--822.
- A. Lazanas and J.C. Latombe, "Landmark-Based Robot Motion Planning,"
Proc. of the AAAI Fall Symp., Boston, MA. October 1992, pp. 98-103.
- L. Kavraki, Computation of Configuration-Space Obstacles Using
the Fast Fourier Transform, Technical Report, STAN-CS-92-1425, 1992.
This research is funded by Darpa/Navy Contract No. N00014-92-J-1809
Please send questions and comments to email@example.com