• DocumentCode
    2193284
  • Title

    Nonholonomic path planning for pushing a disk among obstacles

  • Author

    Agarwal, Pankaj K. ; Latombe, Jean-Claude ; Motwani, Rajeev ; Raghavan, Prabhakar

  • Author_Institution
    Dept. of Comput. Sci., Duke Univ., Durham, NC, USA
  • Volume
    4
  • fYear
    1997
  • fDate
    20-25 Apr 1997
  • Firstpage
    3124
  • Abstract
    We consider the path-planning problem for a robot pushing an object in an environment containing obstacles. This new variant of the classical robot path-planning problem has several interesting geometric aspects, which we explore. We focus on the setting where the robot makes a point contact with the object which is assumed to be a unit disk, while the obstacles are assumed to be polygonal
  • Keywords
    path planning; robots; disk pushing; nonholonomic path planning; obstacles; polygonal obstacles; Algorithm design and analysis; Belts; Computer science; Controllability; Path planning; Robots; Shape;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
  • Conference_Location
    Albuquerque, NM
  • Print_ISBN
    0-7803-3612-7
  • Type

    conf

  • DOI
    10.1109/ROBOT.1997.606763
  • Filename
    606763
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2193284