3 accepted papers
In this paper, we present a novel algorithm – DRGBT (Dynamic Rapidly-exploring Generalized Bur Tree), intended for motion planning in dynamic environments. The main idea behind DRGBT lies in a so-called adaptive horizon, consisting of a set of prospective target nodes that belong to a predefined \ma…
We present a simple method to quickly explore C-spaces of robotic manipulators and thus facilitate path planning. The method is based on a novel geometrical structure called generalized bur. It is a star-like tree, rooted at a given point in free C-space, with an arbitrary number of guaranteed colli…
This paper presents a new approach to C-space exploration and path planning for robotic manipulators using the structure named bur of free C-space. This structure builds upon the so-called bubble, which is a local volume of free C-space, easily computed using the distance information in the workspac…