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"The Ariadne's Clew Algorithm"^^ .
"We present a new approach to path planning, called the ``Ariadne'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, as well as dynamic environments --- ones where obstacles may move. The Ariadne's clew algorithm comprises two sub-algorithms, called SEARCH and EXPLORE, 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."^^ .
"1998" .
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"9" .
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"Journal of Artificial Intelligence Research (JAIR)"^^ .
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"P"^^ .
"Bessiere"^^ .
"P Bessiere"^^ .
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"E"^^ .
"Mazer"^^ .
"E Mazer"^^ .
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"J-M"^^ .
"Ahuactzin"^^ .
"J-M Ahuactzin"^^ .
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"The Ariadne's Clew Algorithm (PDF)"^^ .
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"mazer98a.pdf"^^ .
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"The Ariadne's Clew Algorithm (Image (PNG))"^^ .
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"preview.png"^^ .
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"The Ariadne's Clew Algorithm (Indexer Terms)"^^ .
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"indexcodes.txt"^^ .
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"HTML Summary of #3751 \n\nThe Ariadne's Clew Algorithm\n\n" .
"text/html" .
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"Robotics" .
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