Title :
Local geometric issues for spatial reasoning in robot motion planning
Author :
Mirolo, Claudio ; Pagello, Enrico
Author_Institution :
Dept. of Math. & Comput. Sci., Udine Univ., Italy
Abstract :
Starting from their (1989) past work on geometric modelling, the authors discuss various techniques for the robot motion planning problem and suggest further work in this field. The efficiency of any approach to motion planning is strongly related to the ability of getting relevant information from a small subset of the geometric items. Considering a restricted portion of the configuration space around the current configuration of the introduces some local issues. So, a spatial reasoning system is defined by the interactions between local focusing and a global view of the planning process
Keywords :
geometry; planning (artificial intelligence); robots; spatial reasoning; geometric modelling; global view; local focusing; robot motion planning; spatial reasoning; Computational geometry; Computer science; Mathematical model; Mathematics; Motion planning; Orbital robotics; Process planning; Robot control; Robot motion; Solid modeling;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174536
