--- abstract: "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." altloc: - http://www-laplace.imag.fr/publications/Rayons/mazer98a.pdf chapter: ~ commentary: ~ commref: ~ confdates: ~ conference: ~ confloc: ~ contact_email: ~ creators_id: [] creators_name: - family: Mazer given: E honourific: Dr lineage: '' - family: Ahuactzin given: J-M honourific: Dr lineage: '' - family: Bessiere given: P honourific: Dr lineage: '' date: 1998 date_type: published datestamp: 2004-08-10 department: ~ dir: disk0/00/00/37/51 edit_lock_since: ~ edit_lock_until: ~ edit_lock_user: ~ editors_id: [] editors_name: [] eprint_status: archive eprintid: 3751 fileinfo: /style/images/fileicons/application_pdf.png;/3751/1/mazer98a.pdf full_text_status: public importid: ~ institution: ~ isbn: ~ ispublished: pub issn: ~ item_issues_comment: [] item_issues_count: 0 item_issues_description: [] item_issues_id: [] item_issues_reported_by: [] item_issues_resolved_by: [] item_issues_status: [] item_issues_timestamp: [] item_issues_type: [] keywords: ~ lastmod: 2011-03-11 08:55:39 latitude: ~ longitude: ~ metadata_visibility: show note: ~ number: ~ pagerange: 295-316 pubdom: TRUE publication: Journal of Artificial Intelligence Research (JAIR) publisher: ~ refereed: FALSE referencetext: ~ relation_type: [] relation_uri: [] reportno: ~ rev_number: 12 series: ~ source: ~ status_changed: 2007-09-12 16:53:14 subjects: - comp-sci-robot succeeds: ~ suggestions: ~ sword_depositor: ~ sword_slug: ~ thesistype: ~ title: The Ariadne's Clew Algorithm type: journalp userid: 4357 volume: 9