Planning Algorithms¶
LaValle, S. M. (2006). Planning Algorithms. Cambridge University Press.
Cited by¶
2 citations across 2 artifacts.
Each citation links to the sentence it supports in the citing article.
Primes¶
- Manifold
- In robotics and control the configuration space of a robot is a manifold (joint angles with their topology), and motion planning, inverse kinematics, and controller design are calculus on it.
This sourceTreats a robot's configuration space as a manifold (e.g. a torus for two revolute joints), with motion planning, geodesics, and inverse-kinematic singularities at chart boundaries.
- In robotics and control the configuration space of a robot is a manifold (joint angles with their topology), and motion planning, inverse kinematics, and controller design are calculus on it.
- Topology
- Robotics and motion planning use topology in the form of configuration-space topology, as developed comprehensively by LaValle (2006) in Planning Algorithms.
This sourceComprehensive reference on motion planning in robotics; develops configuration-space topology, sampling-based and combinatorial planning, and the topological foundations (connectivity, homotopy classes of paths, configuration-space obstacles) of the planning problem. Freely available from the author's webpage.
- Robotics and motion planning use topology in the form of configuration-space topology, as developed comprehensively by LaValle (2006) in Planning Algorithms.
Verification¶
This reference passed the adversarial substantiation pipeline: it was checked to exist and to support the claim it is attached to. See how references were verified.
Registry ID ref:4eebdcb50d7c · see in the full table