?url_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Adc&rft.title=The+Ariadne's+Clew+Algorithm&rft.creator=Mazer%2C+Dr+E&rft.creator=Ahuactzin%2C+Dr+J-M&rft.creator=Bessiere%2C+Dr+P&rft.subject=Robotics&rft.description=We+present+a+new+approach+to+path+planning%2C+called+the+%60%60Ariadne's+clew+algorithm''.+It+is+designed+to+find+paths+in+high-dimensional+continuous+spaces+and+applies+to+robots+with+many+degrees+of+freedom+in+static%2C+as+well+as+dynamic+environments+---+ones+where+obstacles+may+move.+The+Ariadne's+clew+algorithm+comprises+two+sub-algorithms%2C+called+SEARCH+and+EXPLORE%2C+applied+in+an+interleaved+manner.+EXPLORE+builds+a+representation+of+the+accessible+space+while+SEARCH+looks+for+the+target.+Both+are+posed+as+optimization+problems.+We+describe+a+real+implementation+of+the+algorithm+to+plan+paths+for+a+six+degrees+of+freedom+arm+in+a+dynamic+environment+where+another+six+degrees+of+freedom+arm+is+used+as+a+moving+obstacle.+Experimental+results+show+that+a+path+is+found+in+about+one+second+without+any+pre-processing.&rft.date=1998&rft.type=Journal+(Paginated)&rft.type=NonPeerReviewed&rft.format=application%2Fpdf&rft.identifier=http%3A%2F%2Fcogprints.org%2F3751%2F1%2Fmazer98a.pdf&rft.identifier=++Mazer%2C+Dr+E+and+Ahuactzin%2C+Dr+J-M+and+Bessiere%2C+Dr+P++(1998)+The+Ariadne's+Clew+Algorithm.++%5BJournal+(Paginated)%5D+++++&rft.relation=http%3A%2F%2Fcogprints.org%2F3751%2F