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dc.contributor.authorJaillet, Léonard-
dc.contributor.authorPorta, Josep M.-
dc.identifierisbn: 978-0-262-51968-7-
dc.identifier.citationProceedings of Robotics: Science and Systems (2012)-
dc.descriptionTrabajo presentado al VIII Robotics: Science and Systems celebrado en Sidney del 9 al 13 de julio de 2012.-
dc.description.abstractThis paper presents an approach for optimal path planning on implicitly-defined configuration spaces such as those arising, for instance, when manipulating an object with two arms or with a multifingered hand. In this kind of situations, the kinematic and contact constraints induce configuration spaces that are manifolds embedded in higher dimensional ambient spaces. Existing sampling-based approaches for path planning on manifolds focus on finding a feasible solution, but they do not optimize the quality of the path in any sense. Thus, the returned paths are usually not suitable for direct execution. Recently, RRT* and other similar asymptotically-optimal path planners have been proposed to generate high-quality paths in the case of globally parametrizable configuration spaces. In this paper, we propose to use higher dimensional continuation tools to extend RRT* to the case of implicitly-defined configuration spaces. Experiments in different problems validate the proposed approach.-
dc.description.sponsorshipThis work has been partially supported by the Spanish Ministry of Economy and Competitiveness under project DPI2010-18449. Leonard Jaillet was supported by the CSIC under a JAE-Doc fellowship partially founded by the ESF.-
dc.publisherMassachusetts Institute of Technology-
dc.titleAsymptotically-optimal path planning on manifolds-
dc.typecomunicación de congreso-
dc.description.versionPeer Reviewed-
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