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Sampling-based motion planning with deterministic μ-calculus specifications
2009 Edition, December 1, 2009 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

In this paper, we propose algorithms for the on-line computation of control programs for dynamical systems that provably satisfy a class of temporal logic specifications. Such specifications have recently been proposed in the literature as a powerful tool to synthesize provably...

Sampling-based algorithms for optimal motion planning with deterministic μ-calculus specifications
2012 Edition, June 1, 2012 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

Automatic generation of control programs that satisfy complex task specifications given in high-level specification languages such as temporal logics has been studied extensively. However, optimality of such control programs, for instance with respect to a cost function, has...

Generalized Sampling-Based Motion Planners
2011 Edition, Volume 41, June 1, 2011 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

In this paper, generalized versions of the probabilistic sampling-based planners, i.e., probabilistic roadmaps and rapidly exploring random tree, are presented. The generalized planners, i.e., generalized probabilistic roadmap and the generalized rapidly exploring random tree, result...

Sensory steering for sampling-based motion planning
2017 Edition, September 1, 2017 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

Sampling-based algorithms offer computationally efficient, practical solutions to the path finding problem in high-dimensional complex configuration spaces by approximately capturing the connectivity of the underlying space through a (dense) collection of sample configurations...

Sampling-based motion planning with temporal goals
2010 Edition, May 1, 2010 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

This paper presents a geometry-based, multi-layered synergistic approach to solve motion planning problems for mobile robots involving temporal goals. The temporal goals are described over subsets of the workspace (called propositions) using temporal logic. A multi-layered...

Sampling-Based Motion Planning Using Predictive Models
2005 Edition, January 1, 2005 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

Robotic motion planning requires configuration space exploration. In high-dimensional configuration spaces, a complete exploration is computationally intractable. Practical motion planning algorithms for such high-dimensional spaces must expend computational resources in...

On the implementation of single-query sampling-based motion planners
2010 Edition, May 1, 2010 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

Single-query sampling-based motion planners are an efficient class of algorithms widely used today to solve challenging motion planning problems. This paper exposes the common core of these planners and presents a tutorial for their implementation. A set of ideas...

Tunnel detection in protein structures using sampling-based motion planning
2017 Edition, July 1, 2017 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

Proteins are involved in many biochemical processes. The behavior of proteins is influenced by internal void space such as tunnels or cavities. Tunnels are paths leading from an inner protein active site to its surface. The knowledge about tunnels and their evolution over time provides an insight...

Sampling-Based Motion Planning With Sensing Uncertainty
2007 Edition, April 1, 2007 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

Sampling-based algorithms have dramatically improved the state of the art in robotic motion planning. However, they make restrictive assumptions that limit their applicability to manipulators operating in uncontrolled and partially unknown environments. This work...

GPU-based collision detection for sampling-based motion planning
2013 Edition, October 1, 2013 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

This paper presents GPU-based collision detection method that accelerates collision queries for sampling-based motion planning. This approach uses many-core GPUs. To take advantage of a many-core GPU, kinematic and collision detection is calculated by the GPU. The...

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