Class 13 (May 15) :
- Movable objects and composite configuration space
- Transit and transfer paths
- Manipulation graph
- Required Readings:
- Basic algorithms:
R. Alami, J.P. Laumond, and T. Simeon.
Two Manipulation Planning Algorithms.
In Algorithmic Foundations of Robotics, K. Goldberg et al. (eds.).
A K Peters, Wellesley (MA), pages 109-125. 1995.
- A planner in 3-D workspace:
Y. Koga and J.C. Latombe.
On Multi-Arm Manipulation Planning.
Proceedings of the IEEE
International Conference on Robotics and Automation,
pages 945-952, 1994
- Other Readings:
- A probabilistic roadmap planner:
C.J. Nielsen and L.E. Kavraki.
A Two Level Fuzzy PRM for Manipulation Planning.