This paper deals with the class of problems that involve finding where to place or how to move a solid object in the presence of obstacles. The solution to this class of problems is essential to the automatic planning ...

The minimum-time for a robot arm has been a longstanding and unsolved problem of considerable interest. We present a general solution to this problem that involves joint-space tesselation, a dynamic time-scaling ...

Free space is represented as a union of (possibly overlapping) generalized cones. An algorithm is presented which efficiently finds good collision free paths for convex polygonal bodies through space littered with ...

This technical report describes Team MIT s approach to theDARPA Urban Challenge. We have developed a novel strategy forusing many inexpensive sensors, mounted on the vehicle periphery,and calibrated with a new cross-­modal ...

We describe a method called Visible Decomposition for computing collision-free paths in real time through a planar environment with a large number of obstacles. This method divides space into local visibility graphs, ...