An efficient algorithm which finds collision free paths for a manipulator with 5 or 6 revolute joints is described. It solves the problem for four degree of freedom pick and place operations. Examples are given of paths ...

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 ...

A hierarchical representation for configuration space is presented, along with an algorithm for searching that space for collision-free paths. The detail of the algorithm are presented for polygonal obstacles and a ...