2 papers
cs.RO2025
Distortion Bounds of Subdivision Models for SO(3)
Zhaoqi Zhang, Chee Yap
In the subdivision approach to robot path planning, we need to subdivide the configuration space of a robot into nice cells to perform various computations. For a rigid spatial rob…
cs.RO2024
Theory and Explicit Design of a Path Planner for an SE(3) Robot
Zhaoqi Zhang, Yi-Jen Chiang, Chee Yap
We consider path planning for a rigid spatial robot with 6 degrees of freedom (6 DOFs), moving amidst polyhedral obstacles. A correct, complete and practical path planner for such…