Class 10 (Wednesday, February 9) :
INTEGRATION OF PLANNING AND CONTROL
- Topics:
- Potential fields
- Tolerant plans
- Elastic bands and strips
- Dynamic replanning
- Required Readings:
- Elastic strips:
O. Brock and O. Khatib.
Executing Motion Plans for Robots with Many Degrees of Freedom in
Dynamic Environments. Proceedings of the IEEE International
Conference on Robotics and Automation Volume 1, pages 1-6, 1998
(ps file).
- Dynamic replanning:
J.J. Kuffner and J.C. Latombe. Fast Synthetic Vision, Memory, and
Learning Models for Virtual Humans. Proceedings of IEEE
International Conference on Computer
Animation, Geneva, Switzerland, pages 118-127, May 1999
(ps file).
- Other Readings:
- Elastic bands:
S. Quinlan and O. Khatib.
Elastic Bands: Connecting Path Planning and Control.
Proceedings of the IEEE International Conference on Robotics
and Automation, 1993 (ps file).
- Fast planning:
T.Y. Li and J.C. Latombe.
Manipulation Planning for Two Robot Arms in a Dynamic Environment.
International Journal of Robotics Research, 16(2):144-167, 1997
(ps file).
Powerpoint slides --
Elastic strip paper
Powerpoint slides --
Dynamic replanning paper