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cs.RO2017
Finding shorter paths for robot arms using their redundancy
Scott Paulin, Tom Botterill, XiaoQi Chen +1
Many robot arms can accomplish one task using many different joint configurations. Often only one of these configurations is used as a goal by the path planner. Ideally the robot's…
cs.RO2017
Integrating asymptotically-optimal path planning with local optimization
Scott Paulin, Tom Botterill, XiaoQi Chen +1
Many robots operating in unpredictable environments require an online path planning algorithm that can quickly compute high quality paths. Asymptotically optimal planners are capab…