Automatic planning of safe and efficient robot paths using an octree representation of a configured space.
C. LindsayPublished in: ICRA (1987)
Keyphrases
- motion planning
- hierarchical representation
- configuration space
- path planning
- mobile robot
- goal directed
- autonomous robots
- multi robot
- high dimensional
- belief space
- collision free
- obstacle avoidance
- humanoid robot
- shortest path
- data structure
- quadtree
- fully automatic
- heuristic search
- space time
- robot navigation
- vision system
- space requirements
- topological map
- low dimensional
- multiresolution
- search space
- multiple robots